Nodelet for repeating messages coming at a slower rate (or even just a single message). More...

#include <repeat.h>

Inheritance diagram for cras::RepeatMessagesNodelet:

[legend]

Protected Member Functions
void	everyPeriod (const ::ros::TimerEvent &)
	Timer callback. Publish the last stored message if it is eligible. More...

virtual bool	inspectStamps () const
	Whether Header should be extracted from the message and its time stamp should undergo inspection. More...

virtual void	maybePublish ()
	Publish the last stored message (if it is eligible). More...

void	onInit () override

virtual void	onReset (const ::ros::MessageEvent< const ::topic_tools::ShapeShifter > &)
	Called when the repeater should be reset. The incoming message can be of any type and should not be examined. More...

void	processMessage (const ::ros::MessageEvent< const ::topic_tools::ShapeShifter > &event, ::ros::Publisher &pub)
	Record the incoming message if it passes validations, and publish it if `publishOnlyOnTimer` is false. More...

void	reset () override
	Reset the repeater, e.g. after a time jump. 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
bool	discardOlderMessages {false}
	Whether to discard an incoming message if its stamp is older than the previously accepted message. More...

::cras::optional< bool >	hasHeader {::cras::nullopt}

::cras::optional<::ros::Time >	lastMsgStamp
	Time stamp of the last stored message (only filled if `inspectStamps()` returns true. More...

::cras::optional<::ros::Duration >	maxAge {::cras::nullopt}
	Maximum age of a message to allow publishing it (the message has to have a Header). More...

::cras::optional< size_t >	maxRepeats {::cras::nullopt}
	Maximum number of repetitions of a single message (only limited when set). More...

::topic_tools::ShapeShifter::ConstPtr	msg
	The last stored message (null if no message has been received yet). More...

::std::mutex	msgMutex
	Mutex protecting msg, lastMsgStamp and numRepeats. More...

size_t	numRepeats {0}
	Number of times the last stored message has been repeated. More...

::ros::Publisher	pub
	The publisher of the repeated messages. More...

bool	publishOnlyOnTimer {false}
	Whether to publish only on timer events, or also when an incoming message is received. More...

::std::unique_ptr<::cras::GenericLazyPubSub >	pubSub
	The lazy pair of subscriber and publisher. More...

::std::unique_ptr<::ros::Rate >	rate
	The desired output rate. More...

bool	resetOnMsg {true}
	Whether to reset the publication timer when a new message arrives. More...

::ros::Subscriber	resetSub
	Subscriber to the reset topic. More...

::ros::Timer	timer
	The timer periodically republishing the last stored message. 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	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 repeating messages coming at a slower rate (or even just a single message).

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.
~rate (Hz, positive double, default 1.0): The desired rate of the published messages.
~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). This can have unexpected consequences as the nodelet doesn't listen for new messages that came in when the publisher had no subscribers. So when the nodelet should start publishing again, it will repeat the last message it received before unsubscribing.
~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.
~max_age (double, no default): If set, this parameter instructs the repeater to check how old the re-published message would be. If it is older than ros::Time::now() - max_age, it will no longer be published. This setting requires that the type of the message contains a Header field at the beginning. Setting it on header-less topics can cause unexpected behavior and random rejection of messages.
~max_repeats (uint, no default): If set, this parameter tells how many times a single message can be repeated.
~discard_older_messages (bool, default false): If true, incoming messages' time stamp will be compared to the last stored message, and if the incoming message is older than the stored one, it will be discarded. This setting requires that the type of the message contains a Header field at the beginning. Setting it on header-less topics can cause unexpected behavior and random rejection of messages.
~reset_on_msg (bool, default true): Whether the internal repeating timer should be reset to count from 0 when an incoming message is stored.
~publish_only_on_timer (bool, default false): If true, messages are only published on timer events. If false, they are also published right away as they come on the input topic.

Subscribed topics:

~input (any type): The input messages. If lazy is true, it will only be subscribed when ~output has some subscribers.
~reset (any type): When a message is received on this topic, the repeater is reset into its initial state (i.e. the last received message is discarded). This should happen every time the ROS time jumps, e.g. when simulation is reset or a bag file starts playing again.

Published topics:

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

Command-line arguments: This nodelet (or node) can also be called with some arguments passed on command line. This means you can pass CLI arguments specifying the topics to subscribe/publish and the rate.

rosrun cras_topic_tools repeat TOPIC_IN RATE [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).
- RATE: The output rate. If both this argument and ~rate parameter are specified, the ROS parameter wins.
- 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}_repeat.

Note: If reset_on_msg and publish_only_on_timer are both true and the rate of the incoming messages is higher than rate parameter, no message will ever be published by this repeater (the timer will get reset earlier than it can ever fire).

Definition at line 94 of file repeat.h.

Member Function Documentation

◆ everyPeriod()

void cras::RepeatMessagesNodelet::everyPeriod ( const ::ros::TimerEvent & )

protected

Timer callback. Publish the last stored message if it is eligible.

Definition at line 213 of file repeat.cpp.

◆ inspectStamps()

bool cras::RepeatMessagesNodelet::inspectStamps ( ) const

protectedvirtual

Whether Header should be extracted from the message and its time stamp should undergo inspection.

Returns: Whether to extract the stamp.

Definition at line 208 of file repeat.cpp.

◆ maybePublish()

void cras::RepeatMessagesNodelet::maybePublish ( )

protectedvirtual

Publish the last stored message (if it is eligible).

Definition at line 183 of file repeat.cpp.

◆ onInit()

void cras::RepeatMessagesNodelet::onInit ( )

overrideprotectedvirtual

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

Definition at line 38 of file repeat.cpp.

◆ onReset()

void cras::RepeatMessagesNodelet::onReset ( const ::ros::MessageEvent< const ::topic_tools::ShapeShifter > & )

protectedvirtual

Called when the repeater should be reset. The incoming message can be of any type and should not be examined.

Definition at line 101 of file repeat.cpp.

◆ processMessage()

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

protected

Record the incoming message if it passes validations, and publish it if publishOnlyOnTimer is false.

Parameters

[in]	event	The incoming message event.
[in]	pub	The publisher to be used for publishing the repeated messages.

Note: It is safe to call this function from multiple threads (access to the stored message is mutex-protected).

Definition at line 118 of file repeat.cpp.

◆ reset()

void cras::RepeatMessagesNodelet::reset ( )

overrideprotectedvirtual

Reset the repeater, e.g. after a time jump.

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

Definition at line 106 of file repeat.cpp.

Member Data Documentation

◆ discardOlderMessages

bool cras::RepeatMessagesNodelet::discardOlderMessages {false}

protected

Whether to discard an incoming message if its stamp is older than the previously accepted message.

Definition at line 150 of file repeat.h.

◆ hasHeader

::cras::optional<bool> cras::RepeatMessagesNodelet::hasHeader {::cras::nullopt}

protected

Definition at line 170 of file repeat.h.

◆ lastMsgStamp

::cras::optional<::ros::Time> cras::RepeatMessagesNodelet::lastMsgStamp

protected

Time stamp of the last stored message (only filled if inspectStamps() returns true.

Definition at line 165 of file repeat.h.

◆ maxAge

::cras::optional<::ros::Duration> cras::RepeatMessagesNodelet::maxAge {::cras::nullopt}

protected

Maximum age of a message to allow publishing it (the message has to have a Header).

Definition at line 147 of file repeat.h.

◆ maxRepeats

::cras::optional<size_t> cras::RepeatMessagesNodelet::maxRepeats {::cras::nullopt}

protected

Maximum number of repetitions of a single message (only limited when set).

Definition at line 144 of file repeat.h.

◆ msg

::topic_tools::ShapeShifter::ConstPtr cras::RepeatMessagesNodelet::msg

protected

The last stored message (null if no message has been received yet).

Definition at line 162 of file repeat.h.

◆ msgMutex

::std::mutex cras::RepeatMessagesNodelet::msgMutex

protected

Mutex protecting msg, lastMsgStamp and numRepeats.

Definition at line 159 of file repeat.h.

◆ numRepeats

size_t cras::RepeatMessagesNodelet::numRepeats {0}

protected

Number of times the last stored message has been repeated.

Definition at line 168 of file repeat.h.

◆ pub

::ros::Publisher cras::RepeatMessagesNodelet::pub

protected

The publisher of the repeated messages.

Definition at line 176 of file repeat.h.

◆ publishOnlyOnTimer

bool cras::RepeatMessagesNodelet::publishOnlyOnTimer {false}

protected

Whether to publish only on timer events, or also when an incoming message is received.

Definition at line 156 of file repeat.h.

◆ pubSub

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

protected

The lazy pair of subscriber and publisher.

Definition at line 98 of file repeat.h.

◆ rate

::std::unique_ptr<::ros::Rate> cras::RepeatMessagesNodelet::rate

protected

The desired output rate.

Definition at line 141 of file repeat.h.

◆ resetOnMsg

bool cras::RepeatMessagesNodelet::resetOnMsg {true}

protected

Whether to reset the publication timer when a new message arrives.

Definition at line 153 of file repeat.h.

◆ resetSub

::ros::Subscriber cras::RepeatMessagesNodelet::resetSub

protected

Subscriber to the reset topic.

Definition at line 101 of file repeat.h.

◆ timer

::ros::Timer cras::RepeatMessagesNodelet::timer

protected

The timer periodically republishing the last stored message.

Definition at line 173 of file repeat.h.

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

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ everyPeriod()

◆ inspectStamps()

◆ maybePublish()

◆ onInit()

◆ onReset()

◆ processMessage()

◆ reset()

Member Data Documentation

◆ discardOlderMessages

◆ hasHeader

◆ lastMsgStamp

◆ maxAge

◆ maxRepeats

◆ msg

◆ msgMutex

◆ numRepeats

◆ pub

◆ publishOnlyOnTimer

◆ pubSub

◆ rate

◆ resetOnMsg

◆ resetSub

◆ timer