A versatile nodelet that can load and run a filter chain. More...

#include <filter_chain_nodelet.hpp>

Inheritance diagram for cras::FilterChainNodelet< F >:

[legend]

Public Types
typedef F	DataType
	Type of the filtered data. More...

typedef ::ros::message_traits::DataType< F >	MsgDataType
	Accessor to DataType field of the filtered message type. More...

Public Member Functions
void	disableFilterPublishers ()
	Disable publishers of single filter results. More...

void	enableFilterPublishers ()
	Enable publishers of single filter results. More...

	FilterChainNodelet (const ::std::string &configNamespace)
	Read ROS parameters, initialize publishers/subscribers, initialize other class members. ROS::init() is assumed to have been called before. Topic "in" is subscribed and "out" is published. More...

	FilterChainNodelet (const ::std::string &dataType, const ::std::string &topicIn, const ::std::string &topicFiltered, const ::std::string &configNamespace)
	Read ROS parameters, initialize publishers/subscribers, initialize other class members. ROS::init() is assumed to have been called before. More...

	FilterChainNodelet (const ::std::string &topicIn, const ::std::string &topicFiltered, const ::std::string &configNamespace)
	Read ROS parameters, initialize publishers/subscribers, initialize other class members. ROS::init() is assumed to have been called before. More...

void	setDisabledFilters (::std::unordered_set<::std::string > filters)
	Set which filters are temporarily disabled. More...

void	setMaxAge (const ::ros::Duration &maxAge)
	Set the maximum age of messages that are accepted and filtered. More...

	~FilterChainNodelet () override

Public Member Functions inherited from cras::Nodelet
	~Nodelet () override=default

Public Member Functions inherited from cras::NodeletBase<::nodelet::Nodelet >
	~NodeletBase () override=default

Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface st_queue=NULL, ros::CallbackQueueInterface mt_queue=NULL)

	Nodelet ()

Public Member Functions inherited from cras::NodeletWithDiagnostics< ::nodelet::Nodelet >
	NodeletWithDiagnostics ()

virtual	~NodeletWithDiagnostics ()

Public Member Functions inherited from cras::NodeletWithSharedTfBuffer< ::nodelet::Nodelet >
::cras::NodeletAwareTFBuffer &	getBuffer () const override
	Get the TF buffer used by the nodelet. If none has been set by `setBuffer()`, a buffer is automatically created. More...

	NodeletWithSharedTfBuffer ()

void	reset () override
	Reset the TF buffer. If a shared buffer is used, it is not reset by this call and its owner is responsible. More...

void	setBuffer (const ::std::shared_ptr<::tf2_ros::Buffer > &buffer) override
	Set the TF buffer to be used by the nodelet. If this method is not called, a standalone buffer is created. More...

bool	usesSharedBuffer () const override
	Whether the buffer set using `setBuffer()` is used or a standalone buffer has been automatically created. More...

virtual	~NodeletWithSharedTfBuffer ()

Public Member Functions inherited from cras::NodeletWithSharedTfBufferInterface
virtual ::cras::NodeletAwareTFBuffer &	getBuffer () const =0
	Get the TF buffer used by the nodelet. If none has been set by `setBuffer()`, a buffer is automatically created. More...

virtual bool	usesSharedBuffer () const =0
	Whether the buffer set using `setBuffer()` is used or a standalone buffer has been automatically created. More...

Public Member Functions inherited from cras::ThreadNameUpdatingNodelet< ::nodelet::Nodelet >
	~ThreadNameUpdatingNodelet () override

Public Member Functions inherited from cras::NodeletParamHelper< ::nodelet::Nodelet >
	NodeletParamHelper ()

	~NodeletParamHelper () override

Public Member Functions inherited from cras::ParamHelper
::cras::LogHelperPtr	getLogger () const
	Return the log helper used for logging. More...

inline ::std::string	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< const char * > &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>
ResultType	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...

inline ::std::string	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>
ResultType	getParam (const ::cras::GetParamAdapter &param, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...

inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< const char * > &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>
inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...

inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...

template<typename ResultType , typename ParamServerType = typename ::cras::DefaultParamServerType<ResultType>::type, ::cras::check_get_param_types< ResultType, ParamServerType > * = nullptr>
inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::cras::GetParamAdapter &param, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={}) const
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...

	ParamHelper (const ::cras::LogHelperPtr &log)

void	setLogger (const ::cras::LogHelperPtr &logger)
	Set the log helper used for logging. More...

virtual	~ParamHelper ()=default

Public Member Functions inherited from cras::HasLogger
::cras::LogHelperConstPtr	getCrasLogger () const
	This is the function picked up by `CRAS_*` logging macros. More...

	HasLogger (const ::cras::LogHelperPtr &log)
	Associate the logger with this interface. More...

void	setCrasLogger (const ::cras::LogHelperPtr &log)
	Set the logger to be used for logging. More...

Public Member Functions inherited from cras::StatefulNodelet< ::nodelet::Nodelet >
bool	ok () const override
	Whether it is OK to continue sleeping. If false, a pending `sleep()` should stop as soon as possible. More...

void	requestStop () override
	Call this function to request stopping this nodelet. `ok()` should return false after calling this. It terminates all ongoing sleeps called by `this->sleep()`. More...

void	shutdown ()

virtual	~StatefulNodelet ()

Public Member Functions inherited from cras::InterruptibleSleepInterface
	InterruptibleSleepInterface ()

virtual bool	ok () const
	Whether it is OK to continue sleeping. If false, a pending `sleep()` should stop as soon as possible. More...

virtual bool	sleep (const ::ros::Duration &duration) const
	Sleep for the given duration or until `ok()` returns false. More...

virtual	~InterruptibleSleepInterface ()
	Destroy the object waiting for a pending `sleep()` call to finish. More...

Protected Member Functions
virtual void	connectCb (const ::ros::SingleSubscriberPublisher &)
	Callback called when a new subscriber of the output topic appears. More...

virtual void	dataCallback (const typename F::ConstPtr &data)
	Callback called when a new message arrives on the input topic. More...

virtual void	disconnectCb (const ::ros::SingleSubscriberPublisher &)
	Callback called when a subscriber of the output topic disappears. More...

void	dynreconfCallback (::cras_cpp_common::FilterChainConfig &config, uint32_t)
	Dynamic reconfiguration of parameters. More...

virtual void	filterFinishedCallback (const F &data, size_t filterNum, const ::std::string &name, const ::std::string &type, bool success)
	Callback called after each filter finishes working on a message. More...

virtual void	filterStartCallback (const F &data, size_t filterNum, const ::std::string &name, const ::std::string &type)
	Callback called before each filter starts working on a message. More...

template<typename T , ::std::enable_if_t<::ros::message_traits::HasHeader< T >::value, bool > = true>
::ros::Time	getStamp (const typename T::ConstPtr &data)
	Get timestamp from a message with header. More...

template<typename T , ::std::enable_if_t<!::ros::message_traits::HasHeader< T >::value, bool > = true>
::ros::Time	getStamp (const typename T::ConstPtr &data)
	Get current time as timestamp of the given message without header. More...

void	onInit () override

void	subscribe ()
	Subscribe to the input topic. More...

void	updateDynamicParams () const
	Update dynamic parameters on the server to correspond to current settings of this nodelet. More...

Protected Member Functions inherited from cras::NodeletBase<::nodelet::Nodelet >
void	onInit () override

Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const

ros::NodeHandle &	getMTNodeHandle () const

ros::NodeHandle &	getMTPrivateNodeHandle () const

const V_string &	getMyArgv () const

const std::string &	getName () const

ros::NodeHandle &	getNodeHandle () const

ros::NodeHandle &	getPrivateNodeHandle () const

const M_string &	getRemappingArgs () const

ros::CallbackQueueInterface &	getSTCallbackQueue () const

std::string	getSuffixedName (const std::string &suffix) const

Protected Member Functions inherited from cras::NodeletWithDiagnostics< ::nodelet::Nodelet >
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)
	Advertise a topic and setup up an automatic topic diagnostic task for it. More...

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)
	Advertise a topic and setup up an automatic topic diagnostic task for it. More...

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)
	Advertise a topic and setup up an automatic topic diagnostic task for it. More...

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)
	Advertise a topic and setup up an automatic topic diagnostic task for it. More...

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, const ::std::string &topic, size_t queueSize, bool latch=false)
	Advertise a topic and setup up an automatic topic diagnostic task for it. More...

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, ros::AdvertiseOptions &options)
	Advertise a topic and setup up an automatic topic diagnostic task for it. More...

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)
	Advertise a topic and setup up an automatic topic diagnostic task for it. More...

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)
	Advertise a topic and setup up an automatic topic diagnostic task for it. More...

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)
	Advertise a topic and setup up an automatic topic diagnostic task for it. More...

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)
	Advertise a topic and setup up an automatic topic diagnostic task for it. More...

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, const ::std::string &topic, size_t queueSize, bool latch=false)
	Advertise a topic and setup up an automatic topic diagnostic task for it. More...

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ros::AdvertiseOptions &options)
	Advertise a topic and setup up an automatic topic diagnostic task for it. More...

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)
	Advertise a topic and setup up an automatic topic diagnostic task for it. More...

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)
	Advertise a topic and setup up an automatic topic diagnostic task for it. More...

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)
	Advertise a topic and setup up an automatic topic diagnostic task for it. More...

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)
	Advertise a topic and setup up an automatic topic diagnostic task for it. More...

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (const ::std::string &topic, size_t queueSize, bool latch=false)
	Advertise a topic and setup up an automatic topic diagnostic task for it. More...

::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (ros::AdvertiseOptions &options)
	Advertise a topic and setup up an automatic topic diagnostic task for it. More...

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(), CRAS_SINGLE_ARG(this->getNodeHandle(),), CRAS_SINGLE_ARG(), CRAS_SINGLE_ARG("",))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(), CRAS_SINGLE_ARG(this->getNodeHandle(),), CRAS_SINGLE_ARG(const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace,), CRAS_SINGLE_ARG(defaultDiagParams, diagNamespace,))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(), CRAS_SINGLE_ARG(this->getNodeHandle(),), CRAS_SINGLE_ARG(const ::std::string &diagNamespace,), CRAS_SINGLE_ARG(::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >>(), diagNamespace,))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh,), CRAS_SINGLE_ARG(subscriberNh, diagNh,), CRAS_SINGLE_ARG(), CRAS_SINGLE_ARG("",))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh,), CRAS_SINGLE_ARG(subscriberNh, diagNh,), CRAS_SINGLE_ARG(const ::std::string &diagNamespace,), CRAS_SINGLE_ARG(::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >>(), diagNamespace,))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(::ros::NodeHandle subscriberNh,), CRAS_SINGLE_ARG(subscriberNh, this->getDefaultDiagNh(subscriberNh, ""),), CRAS_SINGLE_ARG(), CRAS_SINGLE_ARG("",))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(::ros::NodeHandle subscriberNh,), CRAS_SINGLE_ARG(subscriberNh, this->getDefaultDiagNh(subscriberNh, diagNamespace),), CRAS_SINGLE_ARG(const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace,), CRAS_SINGLE_ARG(defaultDiagParams, diagNamespace,))

	CRAS_NODELET_DIAG_GENERATE_OVERLOADS (CRAS_SINGLE_ARG(::ros::NodeHandle subscriberNh,), CRAS_SINGLE_ARG(subscriberNh, this->getDefaultDiagNh(subscriberNh, diagNamespace),), CRAS_SINGLE_ARG(const ::std::string &diagNamespace,), CRAS_SINGLE_ARG(::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >>(), diagNamespace,))

::std::unique_ptr<::cras::DiagnosedPublisher< T > >	createDiagnosedPublisher (::ros::NodeHandle nh, const ::std::string &topic, size_t queueSize, const ::std::string &paramNamespace)
	Create a diagnosed publisher for a message type with header. More...

::std::unique_ptr<::cras::DiagnosedPublisher< T > >	createDiagnosedPublisher (::ros::NodeHandle nh, const ::std::string &topic, size_t queueSize, const ::std::string &paramNamespace, const ::ros::Rate &defaultRate)
	Create a diagnosed publisher for a message type with header. More...

::std::unique_ptr<::cras::DiagnosedPublisher< T > >	createDiagnosedPublisher (::ros::NodeHandle nh, const ::std::string &topic, size_t queueSize, const ::std::string &paramNamespace, const ::ros::Rate &defaultRate, const ::ros::Rate &defaultMinRate, const ::ros::Rate &defaultMaxRate)
	Create a diagnosed publisher for a message type without header. More...

::ros::NodeHandle	getDefaultDiagNh (const ::ros::NodeHandle &pubSubNh, const ::std::string &diagNamespace)
	Get the default node handle for reading diagnostic task configuration. More...

::cras::BoundParamHelperPtr	getDiagParams (const ::ros::NodeHandle &nh, const ::std::string &diagNamespace, const ::std::string &topic)
	Get the parameters configuring a diagnosed publisher or subscriber. More...

::cras::DiagnosticUpdater &	getDiagUpdater (bool forceNew=false) const
	Get a diagnostic updater to be used with this nodelet. More...

void	startDiagTimer () const
	Start periodic updates of the diagnostics updater. More...

void	startDiagTimer (const ::ros::NodeHandle &nh) const
	Start periodic updates of the diagnostics updater. More...

void	stopDiagTimer () const
	Stop the automatic updates of the diagnostic updater. More...

::std::unique_ptr<::cras::DiagnosedSubscriber< Message > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, ::ros::SubscribeOptions &options)
	Subscribe to the given topic, automatically updating the diagnostic task every time a message is received. More...

::std::unique_ptr<::cras::DiagnosedSubscriber< Message > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, const ::boost::function< void(const ::boost::shared_ptr< Message > &)> &cb, ::ros::TransportHints hints={})
	Subscribe to the given topic, automatically updating the diagnostic task every time a message is received. More...

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< C > > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< C >> &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, const ::boost::function< void(C)> &cb, ::ros::VoidConstPtr obj={}, ::ros::TransportHints hints={})
	Subscribe to the given topic, automatically updating the diagnostic task every time a message is received. More...

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, void(*cb)(M), ::ros::TransportHints hints={})
	Subscribe to the given topic, automatically updating the diagnostic task every time a message is received. More...

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, void(T::*cb)(M) const, const ::boost::shared_ptr< T > &obj, ::ros::TransportHints hints={})
	Subscribe to the given topic, automatically updating the diagnostic task every time a message is received. More...

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, void(T::cb)(M) const, T obj, ::ros::TransportHints hints={})
	Subscribe to the given topic, automatically updating the diagnostic task every time a message is received. More...

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, void(T::*cb)(M), const ::boost::shared_ptr< T > &obj, ::ros::TransportHints hints={})
	Subscribe to the given topic, automatically updating the diagnostic task every time a message is received. More...

::std::unique_ptr<::cras::DiagnosedSubscriber<::cras::BaseMessage< M > > >	subscribeDiagnosed (::ros::NodeHandle subscriberNh, ::ros::NodeHandle diagNh, const ::cras::SimpleTopicStatusParam<::cras::BaseMessage< M >> &defaultDiagParams, const ::std::string &diagNamespace, const ::std::string &topic, uint32_t queue_size, void(T::cb)(M), T obj, ::ros::TransportHints hints={})
	Subscribe to the given topic, automatically updating the diagnostic task every time a message is received. More...

Protected Member Functions inherited from cras::TimeJumpResettable
void	checkTimeJump ()
	Check if ROS time has not jumped back. If it did, call reset(). More...

virtual void	checkTimeJump (const ::ros::Time &now)
	Check if ROS time has not jumped back. If it did, call reset(). More...

void	initRos (const ::ros::NodeHandle &pnh) override
	Initialize the ROS part of the interface - subscriber to /reset and ~reset topics, read time jump limits. More...

void	startAutoCheckTimeJump ()
	Start a background 1 Hz timer that automatically checks for time jumps. More...

virtual void	startAutoCheckTimeJump (const ::ros::WallRate &rate)
	Start a background timer that automatically checks for time jumps. More...

virtual void	stopAutoCheckTimeJump ()
	Stop the timer that automatically checks for time jumps. More...

	TimeJumpResettable (const ::cras::LogHelperPtr &log)
	Create the resettable interface. To also wire up to the reset topics and time jump resets, call initRos(). More...

	~TimeJumpResettable () override

Protected Member Functions inherited from cras::Resettable
	Resettable (const ::cras::LogHelperPtr &log)
	Create the resettable interface. To also wire up to the reset topics, call initRos(). More...

virtual	~Resettable ()

Protected Member Functions inherited from cras::ThreadNameUpdatingNodelet< ::nodelet::Nodelet >
void	updateThreadName () const
	Set custom name of the current thread to this nodelet's name. More...

Protected Member Functions inherited from cras::NodeletParamHelper< ::nodelet::Nodelet >
inline ::std::string	getParam (const ::ros::NodeHandle &node, const ::std::string &name, const ::cras::optional< const char * > &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={})
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...

ResultType	getParam (const ::ros::NodeHandle &node, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={})
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...

inline ::std::string	getParam (const ::ros::NodeHandle &node, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={})
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...

ResultType	getParam (const ::ros::NodeHandle &node, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={})
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...

inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::ros::NodeHandle &node, const ::std::string &name, const ::cras::optional< const char * > &defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={})
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...

inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::ros::NodeHandle &node, const ::std::string &name, const ::cras::optional< ResultType > &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={})
	Get the value of the given ROS parameter, falling back to the specified default value (if not nullopt), and print out a ROS log message with the loaded values (if specified). More...

inline ::cras::GetParamResult<::std::string >	getParamVerbose (const ::ros::NodeHandle &node, const ::std::string &name, const char *defaultValue, const ::std::string &unit="", const ::cras::GetParamOptions<::std::string > &options={})
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...

inline ::cras::GetParamResult< ResultType >	getParamVerbose (const ::ros::NodeHandle &node, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={})
	Get the value of the given ROS parameter, falling back to the specified default value, and print out a ROS log message with the loaded values (if specified). More...

::cras::BoundParamHelperPtr	params (const ::ros::NodeHandle &node, const ::std::string &ns="") const
	Creates a version of this param helper "bound" to the given node handle, so that it is not needed to specify the node handle in the subsequent getParam() calls. More...

::cras::BoundParamHelperPtr	paramsForNodeHandle (const ::ros::NodeHandle &node) const
	Creates a version of this param helper "bound" to the given node handle, so that it is not needed to specify the node handle in the subsequent getParam() calls. More...

::cras::BoundParamHelperPtr	privateParams (const ::std::string &ns="") const
	Creates a version of this param helper "bound" to the private nodelet parameters, so that it is not needed to specify the node handle in the subsequent getParam() calls. More...

::cras::BoundParamHelperPtr	publicParams (const ::std::string &ns="") const
	Creates a version of this param helper "bound" to the public nodelet parameters, so that it is not needed to specify the node handle in the subsequent getParam() calls. More...

Protected Attributes
::std::unique_ptr<::cras::DurationStatus >	callbackDurationDiag
	Diagnostic task for overall callback duration. More...

::std::unique_ptr<::cras::FilterChainDiagnostics< F > >	chainDiag
	Diagnostic task for overall chain performance. More...

mutable ::boost::recursive_mutex	configMutex
	Mutex protecting the dynamic reconfigure options, maxAge and publishFilters. More...

::std::string	configNamespace
	ROS parameter namespace from which filter configuration will be read. More...

::std::mutex	connectMutex
	Mutex that protects subscriber, subscriberDiag. More...

::std::unique_ptr<::dynamic_reconfigure::Server<::cras_cpp_common::FilterChainConfig > >	dynreconfServer
	Dynamic reconfigure server. More...

::std::unordered_map<::std::string, ::std::unique_ptr<::cras::DurationStatus > >	filterCallbackDurationDiags
	Diagnostic tasks for duration of each filter callback. More...

::cras::FilterChain< F >	filterChain
	The chain of filters to apply to the incoming messages. More...

::ros::Publisher	filteredPublisher
	Publisher for the filtered data. More...

::std::unordered_map<::std::string, ::ros::Publisher >	filterPublishers
	Publishers for individual filter results. More...

::std::mutex	filterPublishersMutex
	Mutex that protects filterPublishers. More...

bool	lazySubscription {true}
	Whether to use the lazy subscription model (subscribe to input only when someone subscribes to output). More...

::ros::Duration	maxAge
	Maximum age of a message for it to be considered. Older messages are thrown away when received. More...

::ros::NodeHandle	nodeHandle
	Public NodeHandle. More...

::ros::NodeHandle	privateNodeHandle
	Private NodeHandle. More...

bool	publishChainDiagnostics {false}
	Whether overall chain diagnostics should be published to diagnostics. More...

bool	publishDurationDiagnostics {false}
	Whether callback duration statistics should be published to diagnostics. More...

::std::unique_ptr<::cras::DiagnosedPublisher< F > >	publisherDiag
	Publisher diagnostics. More...

size_t	publisherQueueSize {15_sz}
	Queue size for publishers. More...

bool	publishFilters {false}
	Whether to create a publisher for each filter. Can be changed during runtime via `enableFilterPublishers()` More...

bool	publishTopicDiagnostics {false}
	Whether topic frequency/delay statistics should be published to diagnostics. More...

::ros::Subscriber	subscriber
	Subscriber to data. More...

::std::unique_ptr<::cras::DiagnosedSubscriber< F > >	subscriberDiag
	Subscriber diagnostics. More...

size_t	subscriberQueueSize {15_sz}
	Queue size for subscriber. More...

::std::string	topicFiltered
	Topic for outgoing (filtered) messages. More...

::std::string	topicIn
	Topic for incoming messages. More...

Protected Attributes inherited from cras::HasLogger
::cras::LogHelperPtr	log
	Log helper. More...

Protected Attributes inherited from cras::InterruptibleSleepInterface
::ros::WallDuration	pollDuration {0, 1000000}
	How long to wait between querying the `ok()` status and other conditions. More...

Detailed Description

template<class F>
class cras::FilterChainNodelet< F >

A versatile nodelet that can load and run a filter chain.

Template Parameters

F	Type of the filtered data.

The following ROS parameters are read:

~lazy_subscription (bool): If true, the nodelet will only subscribe the input topic when there is at least one subscriber for the output (filtered) topic. Default is true.
~subscriber_queue_size (uint): Queue size for the input topic subscriber. Default is 15.
~publisher_queue_size (uint): Queue size for the output topic publisher. Default is 15.
~publish_diagnostics (bool): Whether to publish all the following diagnostics (single diagnostics can be turned off by the respective config if this is set to true). Default is false.
~publish_topic_diagnostics (bool): Whether to create and publish topic diagnostics. Default is {publish_diagnostics}.
~publish_duration_diagnostics (bool): Whether to diagnose callback duration. Default is {publish_diagnostics}.
~publish_chain_diagnostics (bool): Whether to diagnose overall chain performance. Default is {publish_diagnostics}.
~{TOPIC_IN} (struct): Configuration of the topic diagnostics of the input topic. {TOPIC_IN} is the name passed as topicIn parameter in the constructor (by default in). This name is not affected by remapping the input topic to another name. This parameter is only read when publish_diagnostics is true.
~{TOPIC_FILTERED} (struct): Configuration of the topic diagnostics of the filtered topic. {TOPIC_FILTERED} is the name passed as topicFiltered parameter in the constructor (by default out). This name is not affected by remapping the filtered topic to another name. This parameter is only read when publish_diagnostics is true.
~update_duration (struct): Configuration of duration diagnostics for the overall callback. See DurationStatus task.
~{FILTER_NAME}/update_duration (struct): Configuration of callback duration diagnostics for filter {FILTER_NAME}.

Subscribed topics:

{TOPIC_IN} (F): The input data. {TOPIC_IN} is the name passed as topicIn parameter in the constructor (by default in).

Published topics:

{TOPIC_FILTERED} (F): The filtered data. {TOPIC_FILTERED} is the name passed as topicFiltered parameter in the constructor (by default out).
~filter{I}/{FILTER_NAME} (F): Output of {I}-th filter with name {FILTER_NAME} (if publish_each_filter is true).
/diagnostics: Standard diagnostics output (if any diagnostics are enabled).

The following options can be set at runtime via dynamic reconfigure:

publish_each_filter (bool): If true, an additional publisher will be created for each filter in the chain and it will publish the message as it looked directly after the filter was applied. Name of the topic is ~filter{I}/{FILTER_NAME}, where I is the order (index) of the applied filter in the chain and FILTER_NAME is the name of the applied filter. Default is false.
max_age (float): Maximum age (in seconds) of messages that are processed by the filter chain. Age of a message is computed as the difference between ros::Time::now() and the message timestamp (it can be negative if the message is future-stamped). Messages without header are stamped by ros::Time::now() on receipt, so they can never be considered old. Default is 3600 seconds.
disabled_filters (string): A comma-separated list of names of filters that are disabled. A disabled filter is skipped by the chain, which means that after applying the preceding filter, this filter is skipped and the next non-disabled filter will process the message afterwards. Setting this to empty string will enable all filters. Default is empty string (all filters allowed).

Definition at line 99 of file filter_utils/filter_chain_nodelet.hpp.

Member Typedef Documentation

◆ DataType

template<class F >

typedef F cras::FilterChainNodelet< F >::DataType

Type of the filtered data.

Definition at line 103 of file filter_utils/filter_chain_nodelet.hpp.

◆ MsgDataType

template<class F >

typedef ::ros::message_traits::DataType<F> cras::FilterChainNodelet< F >::MsgDataType

Accessor to DataType field of the filtered message type.

Definition at line 106 of file filter_utils/filter_chain_nodelet.hpp.

Constructor & Destructor Documentation

◆ FilterChainNodelet() [1/3]

template<class F >

cras::FilterChainNodelet< F >::FilterChainNodelet	(	const ::std::string &	dataType,
		const ::std::string &	topicIn,
		const ::std::string &	topicFiltered,
		const ::std::string &	configNamespace
	)

Read ROS parameters, initialize publishers/subscribers, initialize other class members. ROS::init() is assumed to have been called before.

Parameters

[in]	dataType	Type of the filtered messages.
[in]	topicIn	Input topic.
[in]	topicFiltered	Output topic.
[in]	configNamespace	ROS parameter namespace from which configuration should be read.

◆ FilterChainNodelet() [2/3]

template<class F >

cras::FilterChainNodelet< F >::FilterChainNodelet	(	const ::std::string &	topicIn,
		const ::std::string &	topicFiltered,
		const ::std::string &	configNamespace
	)

Read ROS parameters, initialize publishers/subscribers, initialize other class members. ROS::init() is assumed to have been called before.

Parameters

[in]	topicIn	Input topic.
[in]	topicFiltered	Output topic.
[in]	configNamespace	ROS parameter namespace from which configuration should be read.

◆ FilterChainNodelet() [3/3]

template<class F >

cras::FilterChainNodelet< F >::FilterChainNodelet ( const ::std::string & configNamespace )

explicit

Read ROS parameters, initialize publishers/subscribers, initialize other class members. ROS::init() is assumed to have been called before. Topic "in" is subscribed and "out" is published.

Parameters

[in] configNamespace ROS parameter namespace from which configuration should be read.

◆ ~FilterChainNodelet()

template<class F >

cras::FilterChainNodelet< F >::~FilterChainNodelet ( )

override

Member Function Documentation

◆ connectCb()

template<class F >

virtual void cras::FilterChainNodelet< F >::connectCb ( const ::ros::SingleSubscriberPublisher & )

protectedvirtual

Callback called when a new subscriber of the output topic appears.

◆ dataCallback()

template<class F >

virtual void cras::FilterChainNodelet< F >::dataCallback ( const typename F::ConstPtr & data )

protectedvirtual

Callback called when a new message arrives on the input topic.

Parameters

[in] data The received message.

Note: This is the function that calls FilterChain.update(). If a child class overrides this method, it is responsible for calling the update function.

◆ disableFilterPublishers()

template<class F >

void cras::FilterChainNodelet< F >::disableFilterPublishers ( )

Disable publishers of single filter results.

◆ disconnectCb()

template<class F >

virtual void cras::FilterChainNodelet< F >::disconnectCb ( const ::ros::SingleSubscriberPublisher & )

protectedvirtual

Callback called when a subscriber of the output topic disappears.

◆ dynreconfCallback()

template<class F >

void cras::FilterChainNodelet< F >::dynreconfCallback	(	::cras_cpp_common::FilterChainConfig &	config,
		uint32_t
	)

protected

Dynamic reconfiguration of parameters.

Parameters

[in,out] config The configuration to apply.

◆ enableFilterPublishers()

template<class F >

void cras::FilterChainNodelet< F >::enableFilterPublishers ( )

Enable publishers of single filter results.

◆ filterFinishedCallback()

template<class F >

virtual void cras::FilterChainNodelet< F >::filterFinishedCallback	(	const F &	data,
		size_t	filterNum,
		const ::std::string &	name,
		const ::std::string &	type,
		bool	success
	)

protectedvirtual

Callback called after each filter finishes working on a message.

Parameters

[in]	data	The filtered message (after filter application).
[in]	filterNum	Order of the applied filter in the chain.
[in]	name	Name of the applied filter.
[in]	type	Type of the applied filter.
[in]	success	Whether the filter succeeded (its update() function returned true).

◆ filterStartCallback()

template<class F >

virtual void cras::FilterChainNodelet< F >::filterStartCallback	(	const F &	data,
		size_t	filterNum,
		const ::std::string &	name,
		const ::std::string &	type
	)

protectedvirtual

Callback called before each filter starts working on a message.

Parameters

[in]	data	The filtered message (before filter application).
[in]	filterNum	Order of the applied filter in the chain.
[in]	name	Name of the applied filter.
[in]	type	Type of the applied filter.

◆ getStamp() [1/2]

template<class F >

template<typename T , ::std::enable_if_t<::ros::message_traits::HasHeader< T >::value, bool > = true>

::ros::Time cras::FilterChainNodelet< F >::getStamp ( const typename T::ConstPtr & data )

protected

Get timestamp from a message with header.

Template Parameters

T	Type of the message.

Parameters

[in] data The input message.

Returns: message.header.stamp field.

◆ getStamp() [2/2]

template<class F >

template<typename T , ::std::enable_if_t<!::ros::message_traits::HasHeader< T >::value, bool > = true>

::ros::Time cras::FilterChainNodelet< F >::getStamp ( const typename T::ConstPtr & data )

protected

Get current time as timestamp of the given message without header.

Template Parameters

T	Type of the message.

Parameters

[in] data The input message.

Returns: ros::Time::now() .

◆ onInit()

template<class F >

void cras::FilterChainNodelet< F >::onInit ( )

overrideprotectedvirtual

Implements nodelet::Nodelet.

◆ setDisabledFilters()

template<class F >

void cras::FilterChainNodelet< F >::setDisabledFilters ( ::std::unordered_set<::std::string > filters )

Set which filters are temporarily disabled.

Parameters

[in] filters The filters to disable.

◆ setMaxAge()

template<class F >

void cras::FilterChainNodelet< F >::setMaxAge ( const ::ros::Duration & maxAge )

Set the maximum age of messages that are accepted and filtered.

Parameters

[in] maxAge The maximum age.

◆ subscribe()

template<class F >

void cras::FilterChainNodelet< F >::subscribe ( )

protected

Subscribe to the input topic.

Note: This method is called either directly from onInit() (if non-lazy subscription is set), or dynamically on output topic (un)subscription (when lazy subscription is set).

◆ updateDynamicParams()

template<class F >

void cras::FilterChainNodelet< F >::updateDynamicParams ( ) const

protected

Update dynamic parameters on the server to correspond to current settings of this nodelet.

Member Data Documentation

◆ callbackDurationDiag

template<class F >

::std::unique_ptr<::cras::DurationStatus> cras::FilterChainNodelet< F >::callbackDurationDiag

protected

Diagnostic task for overall callback duration.

Definition at line 308 of file filter_utils/filter_chain_nodelet.hpp.

◆ chainDiag

template<class F >

::std::unique_ptr<::cras::FilterChainDiagnostics<F> > cras::FilterChainNodelet< F >::chainDiag

protected

Diagnostic task for overall chain performance.

Definition at line 314 of file filter_utils/filter_chain_nodelet.hpp.

◆ configMutex

template<class F >

mutable ::boost::recursive_mutex cras::FilterChainNodelet< F >::configMutex

protected

Mutex protecting the dynamic reconfigure options, maxAge and publishFilters.

Definition at line 302 of file filter_utils/filter_chain_nodelet.hpp.

◆ configNamespace

template<class F >

::std::string cras::FilterChainNodelet< F >::configNamespace

protected

ROS parameter namespace from which filter configuration will be read.

Definition at line 266 of file filter_utils/filter_chain_nodelet.hpp.

◆ connectMutex

template<class F >

::std::mutex cras::FilterChainNodelet< F >::connectMutex

protected

Mutex that protects subscriber, subscriberDiag.

Definition at line 281 of file filter_utils/filter_chain_nodelet.hpp.

◆ dynreconfServer

template<class F >

::std::unique_ptr<::dynamic_reconfigure::Server<::cras_cpp_common::FilterChainConfig> > cras::FilterChainNodelet< F >::dynreconfServer

protected

Dynamic reconfigure server.

Definition at line 305 of file filter_utils/filter_chain_nodelet.hpp.

◆ filterCallbackDurationDiags

template<class F >

::std::unordered_map<::std::string, ::std::unique_ptr<::cras::DurationStatus> > cras::FilterChainNodelet< F >::filterCallbackDurationDiags

protected

Diagnostic tasks for duration of each filter callback.

Definition at line 311 of file filter_utils/filter_chain_nodelet.hpp.

◆ filterChain

template<class F >

::cras::FilterChain<F> cras::FilterChainNodelet< F >::filterChain

protected

The chain of filters to apply to the incoming messages.

Definition at line 251 of file filter_utils/filter_chain_nodelet.hpp.

◆ filteredPublisher

template<class F >

::ros::Publisher cras::FilterChainNodelet< F >::filteredPublisher

protected

Publisher for the filtered data.

Definition at line 254 of file filter_utils/filter_chain_nodelet.hpp.

◆ filterPublishers

template<class F >

::std::unordered_map<::std::string, ::ros::Publisher> cras::FilterChainNodelet< F >::filterPublishers

protected

Publishers for individual filter results.

Definition at line 275 of file filter_utils/filter_chain_nodelet.hpp.

◆ filterPublishersMutex

template<class F >

::std::mutex cras::FilterChainNodelet< F >::filterPublishersMutex

protected

Mutex that protects filterPublishers.

Definition at line 278 of file filter_utils/filter_chain_nodelet.hpp.

◆ lazySubscription

template<class F >

bool cras::FilterChainNodelet< F >::lazySubscription {true}

protected

Whether to use the lazy subscription model (subscribe to input only when someone subscribes to output).

Definition at line 284 of file filter_utils/filter_chain_nodelet.hpp.

◆ maxAge

template<class F >

::ros::Duration cras::FilterChainNodelet< F >::maxAge

protected

Maximum age of a message for it to be considered. Older messages are thrown away when received.

Definition at line 299 of file filter_utils/filter_chain_nodelet.hpp.

◆ nodeHandle

template<class F >

::ros::NodeHandle cras::FilterChainNodelet< F >::nodeHandle

protected

Public NodeHandle.

Definition at line 239 of file filter_utils/filter_chain_nodelet.hpp.

◆ privateNodeHandle

template<class F >

::ros::NodeHandle cras::FilterChainNodelet< F >::privateNodeHandle

protected

Private NodeHandle.

Definition at line 242 of file filter_utils/filter_chain_nodelet.hpp.

◆ publishChainDiagnostics

template<class F >

bool cras::FilterChainNodelet< F >::publishChainDiagnostics {false}

protected

Whether overall chain diagnostics should be published to diagnostics.

Definition at line 296 of file filter_utils/filter_chain_nodelet.hpp.

◆ publishDurationDiagnostics

template<class F >

bool cras::FilterChainNodelet< F >::publishDurationDiagnostics {false}

protected

Whether callback duration statistics should be published to diagnostics.

Definition at line 293 of file filter_utils/filter_chain_nodelet.hpp.

◆ publisherDiag

template<class F >

::std::unique_ptr<::cras::DiagnosedPublisher<F> > cras::FilterChainNodelet< F >::publisherDiag

protected

Publisher diagnostics.

Definition at line 257 of file filter_utils/filter_chain_nodelet.hpp.

◆ publisherQueueSize

template<class F >

size_t cras::FilterChainNodelet< F >::publisherQueueSize {15_sz}

protected

Queue size for publishers.

Definition at line 272 of file filter_utils/filter_chain_nodelet.hpp.

◆ publishFilters

template<class F >

bool cras::FilterChainNodelet< F >::publishFilters {false}

protected

Whether to create a publisher for each filter. Can be changed during runtime via enableFilterPublishers()

Definition at line 269 of file filter_utils/filter_chain_nodelet.hpp.

◆ publishTopicDiagnostics

template<class F >

bool cras::FilterChainNodelet< F >::publishTopicDiagnostics {false}

protected

Whether topic frequency/delay statistics should be published to diagnostics.

Definition at line 290 of file filter_utils/filter_chain_nodelet.hpp.

◆ subscriber

template<class F >

::ros::Subscriber cras::FilterChainNodelet< F >::subscriber

protected

Subscriber to data.

Definition at line 245 of file filter_utils/filter_chain_nodelet.hpp.

◆ subscriberDiag

template<class F >

::std::unique_ptr<::cras::DiagnosedSubscriber<F> > cras::FilterChainNodelet< F >::subscriberDiag

protected

Subscriber diagnostics.

Definition at line 248 of file filter_utils/filter_chain_nodelet.hpp.

◆ subscriberQueueSize

template<class F >

size_t cras::FilterChainNodelet< F >::subscriberQueueSize {15_sz}

protected

Queue size for subscriber.

Definition at line 287 of file filter_utils/filter_chain_nodelet.hpp.

◆ topicFiltered

template<class F >

::std::string cras::FilterChainNodelet< F >::topicFiltered

protected

Topic for outgoing (filtered) messages.

Definition at line 263 of file filter_utils/filter_chain_nodelet.hpp.

◆ topicIn

template<class F >

::std::string cras::FilterChainNodelet< F >::topicIn

protected

Topic for incoming messages.

Definition at line 260 of file filter_utils/filter_chain_nodelet.hpp.

The documentation for this class was generated from the following file:

filter_utils/filter_chain_nodelet.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<class F> class cras::FilterChainNodelet< F >

Member Typedef Documentation

◆ DataType

◆ MsgDataType

Constructor & Destructor Documentation

◆ FilterChainNodelet() [1/3]

◆ FilterChainNodelet() [2/3]

◆ FilterChainNodelet() [3/3]

◆ ~FilterChainNodelet()

Member Function Documentation

◆ connectCb()

◆ dataCallback()

◆ disableFilterPublishers()

◆ disconnectCb()

◆ dynreconfCallback()

◆ enableFilterPublishers()

◆ filterFinishedCallback()

◆ filterStartCallback()

◆ getStamp() [1/2]

◆ getStamp() [2/2]

◆ onInit()

◆ setDisabledFilters()

◆ setMaxAge()

◆ subscribe()

◆ updateDynamicParams()

Member Data Documentation

◆ callbackDurationDiag

◆ chainDiag

◆ configMutex

◆ configNamespace

◆ connectMutex

◆ dynreconfServer

◆ filterCallbackDurationDiags

◆ filterChain

◆ filteredPublisher

◆ filterPublishers

◆ filterPublishersMutex

◆ lazySubscription

◆ maxAge

◆ nodeHandle

◆ privateNodeHandle

◆ publishChainDiagnostics

◆ publishDurationDiagnostics

◆ publisherDiag

◆ publisherQueueSize

◆ publishFilters

◆ publishTopicDiagnostics

◆ subscriber

◆ subscriberDiag

◆ subscriberQueueSize

◆ topicFiltered

◆ topicIn

template<class F>
class cras::FilterChainNodelet< F >