ros_sub_pub.hpp File Reference

Header file for different ROS message type. More...

#include <ros/ros.h>
#include <sensor_msgs/Imu.h>
#include <geometry_msgs/Twist.h>
#include <std_msgs/String.h>

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Macros
#define	MSG_CLASS1   sensor_msgs::Imu
#define	MSG_CLASS2   geometry_msgs::Twist
#define	MSG_CLASS3   std_msgs::String
#define	MSG_TYPE1   "sensor_msgs/Imu"
#define	MSG_TYPE2   "geometry_msgs/Twist"
#define	MSG_TYPE3   "std_msgs/String"
#define	SUB_MAX   50

Functions
template<typename T >
void	deserialize_pub (uint8_t *buffer_ptr, size_t msg_size, int i)
void	deserialize_publish (uint8_t *buffer_ptr, size_t msg_size, std::string msg_type, int i)
template<typename T >
ros::Subscriber	nh_sub (std::string topic_name, ros::NodeHandle nh, int i)
template<typename T , int i>
void	sub_cb (const T &msg)
ros::Publisher	topic_publisher (std::string topic_name, std::string msg_type, ros::NodeHandle nh)
ros::Subscriber	topic_subscriber (std::string topic_name, std::string msg_type, ros::NodeHandle nh, int i)

Variables
template<typename T >
void(*	sub_callbacks [])(const T &)

Detailed Description

Header file for different ROS message type.

Author

Peixuan Shu (shupe.nosp@m.ixua.nosp@m.n@qq..nosp@m.com) Core Idea: modify the macros about MSG_TYPEx and MSG_CLASSx, it will generate template functions for different ros message types. Remember to add the dependent package in find_package() of ../CMakeLists.txt

Note: the sub_cb() and deserialize_pub() are only declared here, you should define them in you .cpp file according to your need.

Version

1.0

Date

2023-01-01

BSD 3-Clause License

Copyright

(c) 2023, Peixuan Shu All rights reserved.

Definition in file ros_sub_pub.hpp.

Macro Definition Documentation

MSG_CLASS1

#define MSG_CLASS1   sensor_msgs::Imu

Definition at line 28 of file ros_sub_pub.hpp.

MSG_CLASS2

#define MSG_CLASS2   geometry_msgs::Twist

Definition at line 32 of file ros_sub_pub.hpp.

MSG_CLASS3

#define MSG_CLASS3   std_msgs::String

Definition at line 36 of file ros_sub_pub.hpp.

MSG_TYPE1

#define MSG_TYPE1   "sensor_msgs/Imu"

Definition at line 27 of file ros_sub_pub.hpp.

MSG_TYPE2

#define MSG_TYPE2   "geometry_msgs/Twist"

Definition at line 31 of file ros_sub_pub.hpp.

MSG_TYPE3

#define MSG_TYPE3   "std_msgs/String"

Definition at line 35 of file ros_sub_pub.hpp.

SUB_MAX

#define SUB_MAX   50

Definition at line 48 of file ros_sub_pub.hpp.

Function Documentation

deserialize_pub()

template<typename T >

void deserialize_pub	(	uint8_t *	buffer_ptr,
		size_t	msg_size,
		int	i
	)

Definition at line 100 of file bridge_node.cpp.

deserialize_publish()

void deserialize_publish	(	uint8_t *	buffer_ptr,
		size_t	msg_size,
		std::string	msg_type,
		int	i
	)

Definition at line 182 of file ros_sub_pub.hpp.

nh_sub()

template<typename T >

ros::Subscriber nh_sub	(	std::string	topic_name,
		ros::NodeHandle	nh,
		int	i
	)

Definition at line 85 of file ros_sub_pub.hpp.

sub_cb()

template<typename T , int i>

void sub_cb

(

const T &

msg

)

Definition at line 65 of file bridge_node.cpp.

topic_publisher()

ros::Publisher topic_publisher	(	std::string	topic_name,
		std::string	msg_type,
		ros::NodeHandle	nh
	)

Definition at line 136 of file ros_sub_pub.hpp.

topic_subscriber()

ros::Subscriber topic_subscriber	(	std::string	topic_name,
		std::string	msg_type,
		ros::NodeHandle	nh,
		int	i
	)

Definition at line 90 of file ros_sub_pub.hpp.

Variable Documentation

sub_callbacks

template<typename T >

void(* sub_callbacks[])(const T &)

Initial value:

=
{
  sub_cb<T,0>, sub_cb<T,1>, sub_cb<T,2>, sub_cb<T,3>, sub_cb<T,4>,
  sub_cb<T,5>, sub_cb<T,6>, sub_cb<T,7>, sub_cb<T,8>, sub_cb<T,9>,
  sub_cb<T,10>, sub_cb<T,11>, sub_cb<T,12>, sub_cb<T,13>, sub_cb<T,14>,
  sub_cb<T,15>, sub_cb<T,16>, sub_cb<T,17>, sub_cb<T,18>, sub_cb<T,19>,
  sub_cb<T,20>, sub_cb<T,21>, sub_cb<T,22>, sub_cb<T,23>, sub_cb<T,24>,
  sub_cb<T,25>, sub_cb<T,26>, sub_cb<T,27>, sub_cb<T,28>, sub_cb<T,29>,
  sub_cb<T,30>, sub_cb<T,31>, sub_cb<T,32>, sub_cb<T,33>, sub_cb<T,34>,
  sub_cb<T,35>, sub_cb<T,36>, sub_cb<T,37>, sub_cb<T,38>, sub_cb<T,39>,
  sub_cb<T,40>, sub_cb<T,41>, sub_cb<T,42>, sub_cb<T,43>, sub_cb<T,44>,
  sub_cb<T,45>, sub_cb<T,46>, sub_cb<T,47>, sub_cb<T,48>, sub_cb<T,49>
}

Definition at line 54 of file ros_sub_pub.hpp.