| any.hpp | A C++11 shim for std::any. Uses std::any when used in C++17 mode |
| bound_param_helper.hpp | Bound param helper (allows omitting the param adapter in each getParam call) |
| c_api.h | Support definitions for declaration of a C API of modules |
| cloud.hpp | Utilities for comfortable working with PointCloud2 messages |
| diag_utils.hpp | Utilities for working with diagnostics-related tools |
| diagnosed_pub_sub.hpp | ROS message publisher and subscriber with automatic rate and delay diagnostics |
| duration_status.h | Diagnostic task for duration of some task |
| duration_status_param.h | Definitions of parameters for a DurationStatus diagnostic task |
| param_utils/get_param_specializations/eigen.hpp | Specializations of getParam() for Eigen vectors and matrices |
| string_utils/eigen.hpp | Specializations of cras::to_string() for Eigen types |
| expected.hpp | An implementation of the std::expected proposal |
| filter_base.hpp | Helpers for working with filters based on filters::FilterBase |
| filter_chain.hpp | Helpers for working with filter chains based on filters::FilterChain |
| filter_chain_nodelet.hpp | A versatile nodelet that can load and run a filter chain (deprecated header) |
| filter_utils/filter_chain_nodelet.hpp | A versatile nodelet that can load and run a filter chain, run its diagnostics, and enable/disable single filters using dynamic reconfigure |
| filter_utils.hpp | Filter utils aggregate header. It is deprecated |
| from_chars.h | Shim implementing std::from_chars support for floating-point number types in GCC < 11 |
| functional.hpp | C++ utilities for working with functions |
| geometry_msgs.hpp | Specializations of getParam() for geometry_msgs |
| get_param_adapter.hpp | An adapter that allows getting ROS parameters from various sources |
| get_param_options.hpp | Options for getParam() calls |
| get_param_result.hpp | Wrapper of getParam() call results |
| ImprovedUpdater.h | Diagnostic updater that automatically sets its Hardware ID to hostname of the machine (deprecated backwards compatibility header, use diag_utils/updater.h instead) |
| inject_rosconsole.h | Include this file if you want to override the ROS_ or NODELET_ logging macros with CRAS logging macros. Type CRAS_RESTORE_ROS_LOG to get the original definitions back. Use this with care |
| interruptible_buffer.h | TF buffer whose functions with timeout can be interrupted |
| interruptible_sleep_interface.h | Object implementing an ok() method that can interrupt pending sleeps when it returns false |
| literal_sz.h | Support for literal suffix _sz creating size_t values |
| loader_ros.h | |
| log_macros.h | This file adds the missing DELAYED_THROTTLE logging macros for nodelets |
| log_utils.h | ROS logging helpers |
| macros.h | ROS logging helpers macros. Do not include this file directly. Include log_utils.h instead. These logging macros are almost a copy of those from rosconsole/macros_generated.h and ros/console.h, but modified so that the underlying logger implementation can be dynamically changed, and also an alternative time source can be provided for the THROTTLE macros. To get the logger, these macros call getCrasLogger() method. If nothing special is done, the compiler will pick up the getCrasLogger() global function returning a globally usable logger that mimicks the ROS_* logging macros. If you want a different logger to be used, just call the macros in an environment where a more specific function named getCrasLogger() is defined - it can be a class method or a locally defined lambda |
| math_utils.hpp | Math utilities |
| memory.h | Log helper storing all messages in memory |
| message_filter.hpp | TF message filter. This is basically tf2_ros::MessageFilter, but with support for proper logging |
| message_utils.hpp | Utilities for working with ROS message files |
| node.h | Log helper redirecting the logging calls to ROS_ macros |
| node_handle.h | Utils for getting node handle parameters, topic diagnostics etc |
| node_handle.hpp | An adapter that allows getting ROS parameters from a node handle |
| node_handle_with_diagnostics.h | Utils for adding diagnostics to a topic via node handle |
| node_utils.hpp | This file adds utility functions to be used within nodes. It makes ParamHelper templated getParam() functions accessible via static global calls cras::getParam(nh, ...). It also exposes cras::NodeHandle utility class for even easier access to parameter getting |
| nodelet.h | Log helper redirecting the logging calls to NODELET_ macros |
| nodelet_aware_tf_buffer.h | TF buffer that can be correctly interrupted by nodelet unload |
| nodelet_manager.h | A customizable nodelet manager |
| nodelet_manager_sharing_tf_buffer.h | A nodelet manager that can share its TF buffer with cras::NodeletWithSharedTfBuffer nodelets |
| nodelet_utils.hpp | This file contains a set of classes that make work with nodelets easier |
| nodelet_with_diagnostics.hpp | Helpers for setting up diagnostics for nodelets |
| nodelet_with_shared_tf_buffer.hpp | NodeletWithSharedTfBuffer allows you to use a tf2_ros::Buffer provided by the nodelet manager |
| offline_diag_updater.h | Offline diagnostics updater |
| optional.hpp | A C++11 shim for std::optional. Uses std::optional when used in C++17 mode |
| param_helper.h | Utils for getting node parameters |
| nodelet_utils/param_helper.hpp | Utils for getting nodelet parameters |
| param_utils/param_helper.hpp | This class provides a unified experience for nodes, nodelets and filters for getting ROS parameter values |
| param_utils.hpp | This file provides helper methods easing access to parameters passed to nodes, nodelets and filters |
| pool_allocator.hpp | Helper for allocating boost::shared_ptr instances in a boost shared pool. This should be useful if you publish shared_ptr messages and want to save some time during allocation of the new messages. The default pool size is 32 messages. Note that when publishing messages containing arrays, these functions only handle allocation of the message itself. Allocation of the array elements is done via the allocator specified in the message type |
| preloading_class_loader.hpp | A hack that allows forcing a pluginlib classloader to load a compiled-in class instead of seeking for it in plugins using the standard rospack-based algorithm |
| rate_limiter.h | Various implementations of rate-limiting algorithms |
| resettable.h | Interface for resettable nodes and nodelets. Automatic reset on time jumps |
| param_utils/get_param_specializations/ros.hpp | Specializations of getParam() for ROS basic types |
| string_utils/ros.hpp | Specializations of cras::to_string() for ROS types and messages. Parsing of dates |
| running_stats.hpp | Computation of running average and variance using Welford's algorithm |
| running_stats_duration.hpp | Template specializations of RunningStats for ros::Duration and ros::WallDuration |
| semaphore.hpp | Implementation of a reversed semaphore usable for thread synchronization |
| set_utils.hpp | Utilities for working with sets |
| SlowTopicDiagUpdater.h | This file is for backwards compatibility only, do not use it |
| small_map.hpp | Simple map implemented on top of a std::list<std::pair>. The map is append-only, with lock-free reads and mutex-protected insert |
| span.hpp | A C++11 shim for std::span. Uses std::span when used in C++20 mode |
| stateful_nodelet.hpp | A nodelet mixin that can report that it is being unloaded |
| string_traits.hpp | Useful C++ string traits |
| string_utils.hpp | Utils for working with strings |
| suppress_warnings.h | Preprocessor macros to supress compiler warnings for a part of a file |
| param_utils/get_param_specializations/tf2.hpp | Specializations of getParam() for tf2 types |
| string_utils/tf2.hpp | Specializations of cras::to_string() for TF2 types |
| tf2_sensor_msgs.h | Transformation tools for sensor_msgs messages |
| tf2_utils.hpp | Utilities for working with transforms |
| thread_name_updating_nodelet.hpp | ThreadNameUpdatingNodelet mixin allows nodelet to update the name of the thread it gets executed in |
| thread_utils.h | Utilities for working with threads |
| time_utils.hpp | Utilities for working with time |
| topic_status.hpp | Diagnostic task for topic frequency and timestamp delay (combining FrequencyStatus and TimeStampStatus tasks) |
| topic_status_param.hpp | Definitions of parameters for a TopicStatus diagnostic task |
| type_utils.hpp | Utilities for working with C++ types |
| updater.h | Diagnostic updater that automatically sets its Hardware ID to hostname of the machine |
| urdf_utils.h | Utilities for conversions between URDF and other types |
| xmlrpc.hpp | Specializations of cras::to_string() for XmlRpcValue values |
| xmlrpc_value.hpp | An adapter that allows getting ROS parameters from a XmlRpcValue struct |
| xmlrpc_value_traits.hpp | Various type traits for XmlRpcValue |
| xmlrpc_value_utils.hpp | Utilities for working with XmlRpcValues |