Class Driver

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

  • public rclcpp::Node

Class Documentation

class Driver : public rclcpp::Node

Interface for naoqi driver which is registered as a naoqi2 Module, once the external roscore ip is set, this class will advertise and publish ros messages.

Public Functions

Driver()

Constructor for the naoqi driver.

~Driver()

Destructor for naoqi driver, destroys all ros nodehandle and shutsdown all publisher.

void run()

Register the ROS components and start the ROS loop.

void setQiSession(const qi::SessionPtr &session_ptr)

Set the Session object.

void stop()
std::string minidump(const std::string &prefix)

Write a ROSbag with the last bufferized data (10s by default)

std::string minidumpConverters(const std::string &prefix, const std::vector<std::string> &names)
void setBufferDuration(float duration)
float getBufferDuration()
void registerConverter(converter::Converter &conv)

registers generall converter units they are connected via callbacks to various actions such as record, log, publish

void registerPublisher(const std::string &conv_name, publisher::Publisher &pub)

prepare and register a publisher

Parameters:

  • conv_name – the name of the converter related to the publisher

  • pub – the publisher to add

void registerRecorder(const std::string &conv_name, recorder::Recorder &rec, float frequency)

prepare and register a recorder

Parameters:

  • conv_name – the name of the converter related to the recorder

  • rec – the recorder to add

void registerConverter(converter::Converter conv, publisher::Publisher pub, recorder::Recorder rec)

register a converter with an associated publisher and recorder

void registerPublisher(converter::Converter conv, publisher::Publisher pub)

register a converter with an associated publisher instance

void registerRecorder(converter::Converter conv, recorder::Recorder rec)

register a converter with an associated recorder instance

bool registerMemoryConverter(const std::string &key, float frequency, const dataType::DataType &type)

qicli call function to register a converter for a given memory key

bool registerEventConverter(const std::string &key, const dataType::DataType &type)

qicli call function to register a converter for a given memory event

std::vector<std::string> getAvailableConverters()

get all available converters

std::vector<std::string> getSubscribedPublishers() const

get all subscribed publishers

inline std::string _whoIsYourDaddy()
void registerSubscriber(subscriber::Subscriber sub)

registers a subscriber

See also

Subscriber

Note

it will be called by value to expose that internally there will be a copy, eventually this should be replaced by move semantics C++11

Parameters:

subscriber – to register

void registerService(service::Service srv)

registers a service

See also

Service

Note

it will be called by value to expose that internally there will be a copy, eventually this should be replaced by move semantics C++11

Parameters:

service – to register

void startPublishing()

qicli call function to start/enable publishing all registered publisher

void stopPublishing()

qicli call function to stop/disable publishing all registered publisher

void startRecording()

qicli call function to start recording all registered converter in a ROSbag

void startRecordingConverters(const std::vector<std::string> &names)

qicli call function to start recording given topics in a ROSbag

std::string stopRecording()

qicli call function to stop recording all registered publisher in a ROSbag

void startLogging()
void stopLogging()
void addMemoryConverters(std::string filepath)

qicli call function to add on-the-fly some memory keys extractors

void parseJsonFile(std::string filepath, boost::property_tree::ptree &pt)
std::vector<std::string> getFilesList()
void removeAllFiles()
void removeFiles(std::vector<std::string> files)