Class LoaderROS

Class Documentation

class LoaderROS

ROS interface for loading/unloading nodelets (internally using nodelet::Loader to do the work).

Advertised services are:

  • load_nodelet (nodelet/NodeletLoad): Load a nodelet.

  • unload_nodelet (nodelet/NodeletUnload): Unload a nodelet.

  • list (nodelet/NodeletList): List the names of all currently loaded nodelets.

Public Functions

LoaderROS(::nodelet::Loader *parent, const ::ros::NodeHandle &nh)

Construct the ROS interface for the given loader.

Parameters:

  • parent – [in] The loader to use for the actual nodelet loading/unloading.

  • nh – [in] The node handle to use for the advertised services.

Protected Types

typedef ::boost::ptr_map<::std::string, ::bond::Bond> M_stringToBond

Type of the map of nodelet name->bond.

Protected Functions

bool serviceLoad(::nodelet::NodeletLoad::Request &req, ::nodelet::NodeletLoad::Response &res)

Load a nodelet.

Parameters:

  • req – [in] Parameters of the nodelet.

  • res – [out] Whether the loading succeeded.

Returns:

res.success.

bool serviceUnload(::nodelet::NodeletUnload::Request &req, ::nodelet::NodeletUnload::Response &res)

Unload a nodelet.

Parameters:

  • req – [in] Parameters of the nodelet.

  • res – [out] Whether the unloading succeeded.

Returns:

res.success.

bool unload(const ::std::string &name)

Unload a nodelet of the given name.

Parameters:

name – [in] Name of the nodelet to unload.

Returns:

Whether the unloading succeeded.

bool serviceList(::nodelet::NodeletList::Request &req, ::nodelet::NodeletList::Response &res)

List all loaded nodelets.

Parameters:

  • req – [in] Unused.

  • res – [out] The loaded nodelet names.

Returns:

True.

Protected Attributes

::nodelet::Loader *parent_

The actual nodelet loader to use.

::ros::NodeHandle nh_

The node handle to use for the advertised services.

::ros::ServiceServer load_server_

Service server for load_nodelet service.

::ros::ServiceServer unload_server_

Service server for unload_nodelet service.

::ros::ServiceServer list_server_

Service server for list service.

::boost::mutex lock_

Lock protecting access to parent_ and bond_map_.

::ros::CallbackQueue bond_callback_queue_

Callback queue used for the created bonds.

::ros::AsyncSpinner bond_spinner_

Spinner of bond_callback_queue_.

M_stringToBond bond_map_

Map of nodelet name->bond.