cras::RelayNodelet Class Reference

Nodelet for relaying messages on a different topic. More...

#include <relay.h>

Inheritance diagram for cras::RelayNodelet:

Protected Member Functions
void	onInit () override
virtual void	processMessage (const ::ros::MessageEvent< const ::topic_tools::ShapeShifter > &event, ::ros::Publisher &pub)
	Republish the received message. More...
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 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)
::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)
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)
::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)
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, const ::std::string &topic, size_t queueSize, bool latch=false)
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ::ros::NodeHandle diagNh, ros::AdvertiseOptions &options)
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)
::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)
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, const ::std::string &topic, size_t queueSize, bool latch=false)
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (::ros::NodeHandle publisherNh, ros::AdvertiseOptions &options)
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (const ::cras::SimpleTopicStatusParam< Message > &defaultDiagParams, const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)
::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)
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (const ::std::string &diagNamespace, ::ros::AdvertiseOptions &options)
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (const ::std::string &diagNamespace, const ::std::string &topic, size_t queueSize, bool latch=false)
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (const ::std::string &topic, size_t queueSize, bool latch=false)
::std::unique_ptr<::cras::DiagnosedPublisher< Message > >	advertiseDiagnosed (ros::AdvertiseOptions &options)
	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)
::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)
::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)
::ros::NodeHandle	getDefaultDiagNh (const ::ros::NodeHandle &pubSubNh, const ::std::string &diagNamespace)
::cras::BoundParamHelperPtr	getDiagParams (const ::ros::NodeHandle &nh, const ::std::string &diagNamespace, const ::std::string &topic)
::cras::DiagnosticUpdater &	getDiagUpdater (bool forceNew=false) const
void	startDiagTimer () const
void	startDiagTimer (const ::ros::NodeHandle &nh) const
void	stopDiagTimer () const
::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)
::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={})
::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={})
::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={})
::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={})
::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={})
::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={})
::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={})
Protected Member Functions inherited from cras::TimeJumpResettable
void	checkTimeJump ()
virtual void	checkTimeJump (const ::ros::Time &now)
void	initRos (const ::ros::NodeHandle &pnh) override
void	startAutoCheckTimeJump ()
virtual void	startAutoCheckTimeJump (const ::ros::WallRate &rate)
virtual void	stopAutoCheckTimeJump ()
	TimeJumpResettable (const ::cras::LogHelperPtr &log)
	~TimeJumpResettable () override
Protected Member Functions inherited from cras::Resettable
	Resettable (const ::cras::LogHelperPtr &log)
virtual	~Resettable ()
Protected Member Functions inherited from ThreadNameUpdatingNodelet< ::nodelet::Nodelet >
void	updateThreadName () const
Protected Member Functions inherited from 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={})
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={})
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={})
ResultType	getParam (const ::ros::NodeHandle &node, const ::std::string &name, const ResultType &defaultValue=ResultType(), const ::std::string &unit="", const ::cras::GetParamOptions< ResultType, ParamServerType > &options={})
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={})
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={})
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={})
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={})
::cras::BoundParamHelperPtr	params (const ::ros::NodeHandle &node, const ::std::string &ns="") const
::cras::BoundParamHelperPtr	paramsForNodeHandle (const ::ros::NodeHandle &node) const
::cras::BoundParamHelperPtr	privateParams (const ::std::string &ns="") const
::cras::BoundParamHelperPtr	publicParams (const ::std::string &ns="") const

Protected Attributes
::std::unique_ptr<::cras::GenericLazyPubSub >	pubSub
	The lazy pair of subscriber and publisher. More...
Protected Attributes inherited from cras::HasLogger
::cras::LogHelperPtr	log
Protected Attributes inherited from cras::InterruptibleSleepInterface
::ros::WallDuration	pollDuration

Additional Inherited Members
Public Member Functions inherited from cras::Nodelet
	~Nodelet () override=default
Public Member Functions inherited from 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 NodeletWithDiagnostics< ::nodelet::Nodelet >
	NodeletWithDiagnostics ()
virtual	~NodeletWithDiagnostics ()
Public Member Functions inherited from NodeletWithSharedTfBuffer< ::nodelet::Nodelet >
::cras::NodeletAwareTFBuffer &	getBuffer () const override
::std::shared_ptr<::cras::NodeletAwareTFBuffer >	getBufferPtr () const
	NodeletWithSharedTfBuffer ()
void	reset () override
void	setBuffer (const ::std::shared_ptr<::tf2_ros::Buffer > &buffer) override
bool	usesSharedBuffer () const override
	~NodeletWithSharedTfBuffer () override
Public Member Functions inherited from ThreadNameUpdatingNodelet< ::nodelet::Nodelet >
	~ThreadNameUpdatingNodelet () override
Public Member Functions inherited from NodeletParamHelper< ::nodelet::Nodelet >
	NodeletParamHelper ()
	~NodeletParamHelper () override
Public Member Functions inherited from cras::ParamHelper
::cras::LogHelperPtr	getLogger () const
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
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
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
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
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
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
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
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
	ParamHelper (const ::cras::LogHelperPtr &log)
void	setLogger (const ::cras::LogHelperPtr &logger)
virtual	~ParamHelper ()=default
Public Member Functions inherited from cras::HasLogger
::cras::LogHelperConstPtr	getCrasLogger () const
	HasLogger (const ::cras::LogHelperPtr &log)
void	setCrasLogger (const ::cras::LogHelperPtr &log)
Public Member Functions inherited from StatefulNodelet< ::nodelet::Nodelet >
bool	ok () const override
void	requestStop () override
void	shutdown ()
virtual	~StatefulNodelet ()
Public Member Functions inherited from cras::InterruptibleSleepInterface
	InterruptibleSleepInterface ()
virtual bool	sleep (const ::ros::Duration &duration) const
virtual	~InterruptibleSleepInterface ()

Detailed Description

Nodelet for relaying messages on a different topic.

ROS parameters:

• ~in_queue_size (uint, default 10): Queue size for the subscriber.
• ~out_queue_size (uint, default $in_queue_size): Queue size for the publisher.
• ~lazy (bool, default False): Whether to shut down the subscriber when the publisher has no subscribers. The ~input topic will be subscribed in the beginning, and will unsubscribe automatically after the first message is received (this is needed to determine the full type of the topic to publish).
• ~tcp_no_delay (bool, default False): If True, the TCP_NODELAY flag is set for the subscriber. This should decrease the latency of small messages, but might give suboptimal transmission speed for large messages.

Subscribed topics:

• ~input (any type): The input messages. If lazy is true, it will only be subscribed when ~output has some subscribers.

Published topics:

• ~output (same type as ~input): The relayed output messages.

Command-line arguments: This nodelet (or node) can also be called in a way backwards compatible with topic_tools/relay. This means you can pass CLI arguments specifying the topics to subscribe/publish.

• rosrun cras_topic_tools relay TOPIC_IN [TOPIC_OUT]
  • TOPIC_IN: The topic to subscribe. It is resolved against parent namespace of the node(let) (as opposed to the ~input topic which is resolved against the private node(let) namespace).
  • TOPIC_OUT: The topic to publish. It is resolved against parent namespace of the node(let) (as opposed to the ~output topic which is resolved against the private node(let) namespace). If not specified, output topic will be ${TOPIC_IN}_relay.

Definition at line 57 of file relay.h.

Member Function Documentation

onInit()

void cras::RelayNodelet::onInit ( )

overrideprotectedvirtual

Reimplemented from NodeletBase<::nodelet::Nodelet >.

Definition at line 29 of file relay.cpp.

processMessage()

void cras::RelayNodelet::processMessage ( const ::ros::MessageEvent< const ::topic_tools::ShapeShifter > &  event, ::ros::Publisher &  pub  )

protectedvirtual

Republish the received message.

Parameters

[in]	event	The event with the incoming message.
[in]	pub	The publisher to use for publishing the output messages.

Definition at line 62 of file relay.cpp.

Member Data Documentation

pubSub

::std::unique_ptr<::cras::GenericLazyPubSub> cras::RelayNodelet::pubSub

protected

The lazy pair of subscriber and publisher.

Definition at line 61 of file relay.h.

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

• relay.h
• relay.cpp