A nodelet mixin that allows to use a tf2_ros::Buffer provided by the nodelet manager (which should save some computations). If this nodelet has also the StatefulNodelet mixin, the automatically created non-shared buffer is nodelet-aware (you can also pass a NodeletAwareTfBuffer to setBuffer()). That means any TF lookups done via this->getBuffer() will be able to correctly end when the nodelet is being unloaded (which normally hangs: https://github.com/ros/geometry2/issues/381). More...

#include <nodelet_with_shared_tf_buffer.hpp>

Inheritance diagram for cras::NodeletWithSharedTfBuffer< NodeletType >:

[legend]

Public Member Functions
::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 ()

virtual void	onInit ()

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 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 ()

virtual	~Nodelet ()

Private Attributes
::std::unique_ptr<::cras::impl::NodeletWithSharedTfBufferPrivate >	data
	PIMPL. More...

Additional Inherited Members
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::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 ()

Detailed Description

template<typename NodeletType = ::nodelet::Nodelet>
struct cras::NodeletWithSharedTfBuffer< NodeletType >

A nodelet mixin that allows to use a tf2_ros::Buffer provided by the nodelet manager (which should save some computations). If this nodelet has also the StatefulNodelet mixin, the automatically created non-shared buffer is nodelet-aware (you can also pass a NodeletAwareTfBuffer to setBuffer()). That means any TF lookups done via this->getBuffer() will be able to correctly end when the nodelet is being unloaded (which normally hangs: https://github.com/ros/geometry2/issues/381).

Template Parameters

NodeletType Type of the base nodelet.

Definition at line 75 of file nodelet_with_shared_tf_buffer.hpp.

Constructor & Destructor Documentation

◆ NodeletWithSharedTfBuffer()

template<typename NodeletType = ::nodelet::Nodelet>

cras::NodeletWithSharedTfBuffer< NodeletType >::NodeletWithSharedTfBuffer ( )

◆ ~NodeletWithSharedTfBuffer()

template<typename NodeletType = ::nodelet::Nodelet>

virtual cras::NodeletWithSharedTfBuffer< NodeletType >::~NodeletWithSharedTfBuffer ( )

virtual

Member Function Documentation

◆ getBuffer()

template<typename NodeletType = ::nodelet::Nodelet>

::cras::NodeletAwareTFBuffer& cras::NodeletWithSharedTfBuffer< NodeletType >::getBuffer ( ) const

overridevirtual

Get the TF buffer used by the nodelet. If none has been set by setBuffer(), a buffer is automatically created.

Returns: The buffer.

Note: This buffer is only offers the timeouting versions of canTransform() and lookupTransform(). It does not offer setTransform() and many other functions. User getRawBuffer() on the returned instance to get a tf2::BufferCore that offers the missing non-time-aware functionality.

Implements cras::NodeletWithSharedTfBufferInterface.

◆ onInit()

template<typename NodeletType = ::nodelet::Nodelet>

virtual void cras::NodeletWithSharedTfBuffer< NodeletType >::onInit ( )

virtual

Implements nodelet::Nodelet.

Reimplemented in cras::FilterChainNodelet< F >, cras::NodeletBase< BaseNodelet >, and cras::NodeletBase<::nodelet::Nodelet >.

◆ reset()

template<typename NodeletType = ::nodelet::Nodelet>

void cras::NodeletWithSharedTfBuffer< NodeletType >::reset ( )

overridevirtual

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

Implements cras::NodeletWithSharedTfBufferInterface.

◆ setBuffer()

template<typename NodeletType = ::nodelet::Nodelet>

void cras::NodeletWithSharedTfBuffer< NodeletType >::setBuffer ( const ::std::shared_ptr<::tf2_ros::Buffer > & buffer )

overridevirtual

Set the TF buffer to be used by the nodelet. If this method is not called, a standalone buffer is created.

Parameters

[in] buffer The buffer to use.

Implements cras::NodeletWithSharedTfBufferInterface.

◆ usesSharedBuffer()

template<typename NodeletType = ::nodelet::Nodelet>

bool cras::NodeletWithSharedTfBuffer< NodeletType >::usesSharedBuffer ( ) const

overridevirtual

Whether the buffer set using setBuffer() is used or a standalone buffer has been automatically created.

Returns: Whether the buffer set using setBuffer() is used or a standalone buffer has been automatically created.

Implements cras::NodeletWithSharedTfBufferInterface.

Member Data Documentation

◆ data

template<typename NodeletType = ::nodelet::Nodelet>

::std::unique_ptr<::cras::impl::NodeletWithSharedTfBufferPrivate> cras::NodeletWithSharedTfBuffer< NodeletType >::data

private

PIMPL.

Definition at line 95 of file nodelet_with_shared_tf_buffer.hpp.

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

nodelet_with_shared_tf_buffer.hpp

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

template<typename NodeletType = ::nodelet::Nodelet> struct cras::NodeletWithSharedTfBuffer< NodeletType >

Constructor & Destructor Documentation

◆ NodeletWithSharedTfBuffer()

◆ ~NodeletWithSharedTfBuffer()

Member Function Documentation

◆ getBuffer()

◆ onInit()

◆ reset()

◆ setBuffer()

◆ usesSharedBuffer()

Member Data Documentation

◆ data

template<typename NodeletType = ::nodelet::Nodelet>
struct cras::NodeletWithSharedTfBuffer< NodeletType >