roscpp's interface for creating subscribers, publishers, etc. More...
#include <node_handle.h>
Classes | |
| struct | no_validate |
Public Member Functions | |
| Publisher | advertise (AdvertiseOptions &ops) |
| template<class M > | |
| Publisher | advertise (const std::string &topic, uint32_t queue_size, bool latch=false) |
| Advertise a topic, simple version. More... | |
| template<class M > | |
| Publisher | advertise (const std::string &topic, uint32_t queue_size, const SubscriberStatusCallback &connect_cb, const SubscriberStatusCallback &disconnect_cb=SubscriberStatusCallback(), const VoidConstPtr &tracked_object=VoidConstPtr(), bool latch=false) |
| ServiceServer | advertiseService (AdvertiseServiceOptions &ops) |
| template<class MReq , class MRes > | |
| ServiceServer | advertiseService (const std::string &service, bool(*srv_func)(MReq &, MRes &)) |
| template<class MReq , class MRes > | |
| ServiceServer | advertiseService (const std::string &service, bool(*srv_func)(ServiceEvent< MReq, MRes > &)) |
| template<class T , class MReq , class MRes > | |
| ServiceServer | advertiseService (const std::string &service, bool(T::*srv_func)(MReq &, MRes &), const std::shared_ptr< T > &obj) |
| template<class T , class MReq , class MRes > | |
| ServiceServer | advertiseService (const std::string &service, bool(T::*srv_func)(MReq &, MRes &), T *obj) |
| template<class T , class MReq , class MRes > | |
| ServiceServer | advertiseService (const std::string &service, bool(T::*srv_func)(ServiceEvent< MReq, MRes > &), const std::shared_ptr< T > &obj) |
| template<class T , class MReq , class MRes > | |
| ServiceServer | advertiseService (const std::string &service, bool(T::*srv_func)(ServiceEvent< MReq, MRes > &), T *obj) |
| template<class MReq , class MRes > | |
| ServiceServer | advertiseService (const std::string &service, const std::function< bool(MReq &, MRes &)> &callback, const VoidConstPtr &tracked_object=VoidConstPtr()) |
| template<class S > | |
| ServiceServer | advertiseService (const std::string &service, const std::function< bool(S &)> &callback, const VoidConstPtr &tracked_object=VoidConstPtr()) |
| Timer | createTimer (Duration period, const TimerCallback &callback, bool oneshot=false, bool autostart=true) const |
| Create a timer which will call a callback at the specified rate. This variant takes anything that can be bound to a Boost.Function, including a bare function. More... | |
| template<class T > | |
| Timer | createTimer (Duration period, void(T::*callback)(const TimerEvent &) const, T *obj, bool oneshot=false, bool autostart=true) const |
| Create a timer which will call a callback at the specified rate. This variant takes a class member function, and a bare pointer to the object to call the method on. More... | |
| template<class T > | |
| Timer | createTimer (Duration period, void(T::*callback)(const TimerEvent &), const std::shared_ptr< T > &obj, bool oneshot=false, bool autostart=true) const |
| Create a timer which will call a callback at the specified rate. This variant takes a class member function, and a shared pointer to the object to call the method on. More... | |
| template<class T > | |
| Timer | createTimer (Duration period, void(T::*callback)(const TimerEvent &), T *obj, bool oneshot=false, bool autostart=true) const |
| Create a timer which will call a callback at the specified rate. This variant takes a class member function, and a bare pointer to the object to call the method on. More... | |
| template<class Handler , class Obj > | |
| Timer | createTimer (Rate r, Handler h, Obj o, bool oneshot=false, bool autostart=true) const |
| Create a timer which will call a callback at the specified rate. This variant takes a class member function, and a bare pointer to the object to call the method on. More... | |
| Timer | createTimer (TimerOptions &ops) const |
| Create a timer which will call a callback at the specified rate. This variant allows the full range of TimerOptions. More... | |
| WallTimer | createWallTimer (WallDuration period, const WallTimerCallback &callback, bool oneshot=false, bool autostart=true) const |
| Create a timer which will call a callback at the specified rate, using wall time to determine when to call the callback instead of ROS time. This variant takes anything that can be bound to a Boost.Function, including a bare function. More... | |
| template<class T > | |
| WallTimer | createWallTimer (WallDuration period, void(T::*callback)(const WallTimerEvent &), const std::shared_ptr< T > &obj, bool oneshot=false, bool autostart=true) const |
| Create a timer which will call a callback at the specified rate, using wall time to determine when to call the callback instead of ROS time. This variant takes a class member function, and a shared pointer to the object to call the method on. More... | |
| template<class T > | |
| WallTimer | createWallTimer (WallDuration period, void(T::*callback)(const WallTimerEvent &), T *obj, bool oneshot=false, bool autostart=true) const |
| Create a timer which will call a callback at the specified rate, using wall time to determine when to call the callback instead of ROS time. This variant takes a class member function, and a bare pointer to the object to call the method on. More... | |
| WallTimer | createWallTimer (WallTimerOptions &ops) const |
| Create a timer which will call a callback at the specified rate, using wall time to determine when to call the callback instead of ROS time. This variant allows the full range of TimerOptions. More... | |
| bool | deleteParam (const std::string &key) const |
| Delete a parameter from the parameter server. More... | |
| CallbackQueueInterface * | getCallbackQueue () const |
| Returns the callback queue associated with this NodeHandle. If none has been explicitly set, returns the global queue. More... | |
| const std::string & | getNamespace () const |
| Returns the namespace associated with this NodeHandle. More... | |
| bool | getParam (const std::string &key, bool &b) const |
| Get a boolean value from the parameter server. More... | |
| bool | getParam (const std::string &key, double &d) const |
| Get a double value from the parameter server. More... | |
| bool | getParam (const std::string &key, float &f) const |
| Get a float value from the parameter server. More... | |
| bool | getParam (const std::string &key, int &i) const |
| Get an integer value from the parameter server. More... | |
| bool | getParam (const std::string &key, std::map< std::string, bool > &map) const |
| Get a boolean map value from the parameter server. More... | |
| bool | getParam (const std::string &key, std::map< std::string, double > &map) const |
| Get a double map value from the parameter server. More... | |
| bool | getParam (const std::string &key, std::map< std::string, float > &map) const |
| Get a float map value from the parameter server. More... | |
| bool | getParam (const std::string &key, std::map< std::string, int > &map) const |
| Get an int map value from the parameter server. More... | |
| bool | getParam (const std::string &key, std::map< std::string, std::string > &map) const |
| Get a string map value from the parameter server. More... | |
| bool | getParam (const std::string &key, std::string &s) const |
| Get a string value from the parameter server. More... | |
| bool | getParam (const std::string &key, std::vector< bool > &vec) const |
| Get a boolean vector value from the parameter server. More... | |
| bool | getParam (const std::string &key, std::vector< double > &vec) const |
| Get a double vector value from the parameter server. More... | |
| bool | getParam (const std::string &key, std::vector< float > &vec) const |
| Get a float vector value from the parameter server. More... | |
| bool | getParam (const std::string &key, std::vector< int > &vec) const |
| Get an int vector value from the parameter server. More... | |
| bool | getParam (const std::string &key, std::vector< std::string > &vec) const |
| Get a string vector value from the parameter server. More... | |
| bool | getParam (const std::string &key, XmlRpc::XmlRpcValue &v) const |
| Get an arbitrary XML/RPC value from the parameter server. More... | |
| bool | getParamCached (const std::string &key, bool &b) const |
| Get a boolean value from the parameter server, with local caching. More... | |
| bool | getParamCached (const std::string &key, double &d) const |
| Get a double value from the parameter server, with local caching. More... | |
| bool | getParamCached (const std::string &key, float &f) const |
| Get a float value from the parameter server, with local caching. More... | |
| bool | getParamCached (const std::string &key, int &i) const |
| Get an integer value from the parameter server, with local caching. More... | |
| bool | getParamCached (const std::string &key, std::map< std::string, bool > &map) const |
| Get a string->bool map value from the parameter server, with local caching. More... | |
| bool | getParamCached (const std::string &key, std::map< std::string, double > &map) const |
| Get a string->double map value from the parameter server, with local caching. More... | |
| bool | getParamCached (const std::string &key, std::map< std::string, float > &map) const |
| Get a string->float map value from the parameter server, with local caching. More... | |
| bool | getParamCached (const std::string &key, std::map< std::string, int > &map) const |
| Get a string->int map value from the parameter server, with local caching. More... | |
| bool | getParamCached (const std::string &key, std::map< std::string, std::string > &map) const |
| Get a string->std::string map value from the parameter server, with local caching. More... | |
| bool | getParamCached (const std::string &key, std::string &s) const |
| Get a string value from the parameter server, with local caching. More... | |
| bool | getParamCached (const std::string &key, std::vector< bool > &vec) const |
| Get a bool vector value from the parameter server, with local caching. More... | |
| bool | getParamCached (const std::string &key, std::vector< double > &vec) const |
| Get a double vector value from the parameter server, with local caching. More... | |
| bool | getParamCached (const std::string &key, std::vector< float > &vec) const |
| Get a float vector value from the parameter server, with local caching. More... | |
| bool | getParamCached (const std::string &key, std::vector< int > &vec) const |
| Get a int vector value from the parameter server, with local caching. More... | |
| bool | getParamCached (const std::string &key, std::vector< std::string > &vec) const |
| Get a std::string vector value from the parameter server, with local caching. More... | |
| bool | getParamCached (const std::string &key, XmlRpc::XmlRpcValue &v) const |
| Get an arbitrary XML/RPC value from the parameter server, with local caching. More... | |
| bool | getParamNames (std::vector< std::string > &keys) const |
| Get the keys for all the parameters in the parameter server. More... | |
| const std::string & | getUnresolvedNamespace () const |
| Returns the namespace associated with this NodeHandle as it was passed in (before it was resolved) More... | |
| bool | hasParam (const std::string &key) const |
| Check whether a parameter exists on the parameter server. More... | |
| NodeHandle (const NodeHandle &parent, const std::string &ns) | |
| Parent constructor. More... | |
| NodeHandle (const NodeHandle &parent, const std::string &ns, const M_string &remappings) | |
| Parent constructor. More... | |
| NodeHandle (const NodeHandle &rhs) | |
| Copy constructor. More... | |
| NodeHandle (const std::string &ns=std::string(), const M_string &remappings=M_string()) | |
| Constructor. More... | |
| bool | ok () const |
| Check whether it's time to exit. More... | |
| NodeHandle & | operator= (const NodeHandle &rhs) |
| template<typename T > | |
| T | param (const std::string ¶m_name, const T &default_val) |
| Return value from parameter server, or default if unavailable. More... | |
| template<typename T > | |
| bool | param (const std::string ¶m_name, T ¶m_val, const T &default_val) const |
| Assign value from parameter server, with default. More... | |
| std::string | resolveName (const std::string &name, bool remap=true) const |
| Resolves a name into a fully-qualified name. More... | |
| bool | searchParam (const std::string &key, std::string &result) const |
| Search up the tree for a parameter with a given key. More... | |
| template<class MReq , class MRes > | |
| ServiceClient | serviceClient (const std::string &service_name, bool persistent=false, const M_string &header_values=M_string()) |
| Create a client for a service, version templated on two message types. More... | |
| template<class Service > | |
| ServiceClient | serviceClient (const std::string &service_name, bool persistent=false, const M_string &header_values=M_string()) |
| Create a client for a service, version templated on service type. More... | |
| ServiceClient | serviceClient (ServiceClientOptions &ops) |
| Create a client for a service, version with full range of ServiceClientOptions. More... | |
| void | setCallbackQueue (CallbackQueueInterface *queue) |
| Set the default callback queue to be used by this NodeHandle. More... | |
| void | setParam (const std::string &key, bool b) const |
| Set a boolean value on the parameter server. More... | |
| void | setParam (const std::string &key, const char *s) const |
| Set a string value on the parameter server. More... | |
| void | setParam (const std::string &key, const std::map< std::string, bool > &map) const |
| Set a bool vector value on the parameter server. More... | |
| void | setParam (const std::string &key, const std::map< std::string, double > &map) const |
| Set a double vector value on the parameter server. More... | |
| void | setParam (const std::string &key, const std::map< std::string, float > &map) const |
| Set a float vector value on the parameter server. More... | |
| void | setParam (const std::string &key, const std::map< std::string, int > &map) const |
| Set a int vector value on the parameter server. More... | |
| void | setParam (const std::string &key, const std::map< std::string, std::string > &map) const |
| Set a string vector value on the parameter server. More... | |
| void | setParam (const std::string &key, const std::string &s) const |
| Set a string value on the parameter server. More... | |
| void | setParam (const std::string &key, const std::vector< bool > &vec) const |
| Set a bool vector value on the parameter server. More... | |
| void | setParam (const std::string &key, const std::vector< double > &vec) const |
| Set a double vector value on the parameter server. More... | |
| void | setParam (const std::string &key, const std::vector< float > &vec) const |
| Set a float vector value on the parameter server. More... | |
| void | setParam (const std::string &key, const std::vector< int > &vec) const |
| Set a int vector value on the parameter server. More... | |
| void | setParam (const std::string &key, const std::vector< std::string > &vec) const |
| Set a string vector value on the parameter server. More... | |
| void | setParam (const std::string &key, const XmlRpc::XmlRpcValue &v) const |
| Set an arbitrary XML/RPC value on the parameter server. More... | |
| void | setParam (const std::string &key, double d) const |
| Set a double value on the parameter server. More... | |
| void | setParam (const std::string &key, int i) const |
| Set an integer value on the parameter server. More... | |
| void | shutdown () |
| Shutdown every handle created through this NodeHandle. More... | |
| template<class M , class C > | |
| Subscriber | subscribe (const std::string &topic, uint32_t queue_size, const std::function< void(C)> &callback, const VoidConstPtr &tracked_object=VoidConstPtr(), const TransportHints &transport_hints=TransportHints()) |
| template<class M > | |
| Subscriber | subscribe (const std::string &topic, uint32_t queue_size, const std::function< void(const std::shared_ptr< M const > &)> &callback, const VoidConstPtr &tracked_object=VoidConstPtr(), const TransportHints &transport_hints=TransportHints()) |
| template<class M > | |
| Subscriber | subscribe (const std::string &topic, uint32_t queue_size, void(*fp)(const std::shared_ptr< M const > &), const TransportHints &transport_hints=TransportHints()) |
| template<class M > | |
| Subscriber | subscribe (const std::string &topic, uint32_t queue_size, void(*fp)(M), const TransportHints &transport_hints=TransportHints()) |
| template<class M , class T > | |
| Subscriber | subscribe (const std::string &topic, uint32_t queue_size, void(T::*fp)(const std::shared_ptr< M const > &) const, const std::shared_ptr< T > &obj, const TransportHints &transport_hints=TransportHints()) |
| template<class M , class T > | |
| Subscriber | subscribe (const std::string &topic, uint32_t queue_size, void(T::*fp)(const std::shared_ptr< M const > &) const, T *obj, const TransportHints &transport_hints=TransportHints()) |
| template<class M , class T > | |
| Subscriber | subscribe (const std::string &topic, uint32_t queue_size, void(T::*fp)(const std::shared_ptr< M const > &), const std::shared_ptr< T > &obj, const TransportHints &transport_hints=TransportHints()) |
| template<class M , class T > | |
| Subscriber | subscribe (const std::string &topic, uint32_t queue_size, void(T::*fp)(const std::shared_ptr< M const > &), T *obj, const TransportHints &transport_hints=TransportHints()) |
| template<class M , class T > | |
| Subscriber | subscribe (const std::string &topic, uint32_t queue_size, void(T::*fp)(M) const, const std::shared_ptr< T > &obj, const TransportHints &transport_hints=TransportHints()) |
| template<class M , class T > | |
| Subscriber | subscribe (const std::string &topic, uint32_t queue_size, void(T::*fp)(M) const, T *obj, const TransportHints &transport_hints=TransportHints()) |
| and the const version More... | |
| template<class M , class T > | |
| Subscriber | subscribe (const std::string &topic, uint32_t queue_size, void(T::*fp)(M), const std::shared_ptr< T > &obj, const TransportHints &transport_hints=TransportHints()) |
| template<class M , class T > | |
| Subscriber | subscribe (const std::string &topic, uint32_t queue_size, void(T::*fp)(M), T *obj, const TransportHints &transport_hints=TransportHints()) |
| Subscriber | subscribe (SubscribeOptions &ops) |
| ~NodeHandle () | |
| Destructor. More... | |
Private Member Functions | |
| void | construct (const std::string &ns, bool validate_name) |
| void | destruct () |
| void | initRemappings (const M_string &remappings) |
| std::string | remapName (const std::string &name) const |
| std::string | resolveName (const std::string &name, bool remap, no_validate) const |
Private Attributes | |
| CallbackQueueInterface * | callback_queue_ |
| NodeHandleBackingCollection * | collection_ |
| std::string | namespace_ |
| bool | ok_ |
| M_string | remappings_ |
| std::string | unresolved_namespace_ |
| M_string | unresolved_remappings_ |
roscpp's interface for creating subscribers, publishers, etc.
This class is used for writing nodes. It provides a RAII interface to this process' node, in that when the first NodeHandle is created, it instantiates everything necessary for this node, and when the last NodeHandle goes out of scope it shuts down the node.
NodeHandle uses reference counting internally, and copying a NodeHandle is very lightweight.
You must call one of the ros::init functions prior to instantiating this class.
The most widely used methods are:
Definition at line 87 of file node_handle.h.
| roswrap::NodeHandle::NodeHandle | ( | const std::string & | ns = std::string(), |
| const M_string & | remappings = M_string() |
||
| ) |
Constructor.
When a NodeHandle is constructed, it checks to see if the global node state has already been started. If so, it increments a global reference count. If not, it starts the node with ros::start() and sets the reference count to 1.
| ns | Namespace for this NodeHandle. This acts in addition to any namespace assigned to this ROS node. eg. If the node's namespace is "/a" and the namespace passed in here is "b", all topics/services/parameters will be prefixed with "/a/b/" |
| remappings | Remappings for this NodeHandle. |
| InvalidNameException | if the namespace is not a valid graph resource name |
| roswrap::NodeHandle::NodeHandle | ( | const NodeHandle & | rhs | ) |
Copy constructor.
When a NodeHandle is copied, it inherits the namespace of the NodeHandle being copied, and increments the reference count of the global node state by 1.
| roswrap::NodeHandle::NodeHandle | ( | const NodeHandle & | parent, |
| const std::string & | ns | ||
| ) |
Parent constructor.
This version of the constructor takes a "parent" NodeHandle. If the passed "ns" is relative (does not start with a slash), it is equivalent to calling:
NodeHandle child(parent.getNamespace() + "/" + ns);
If the passed "ns" is absolute (does start with a slash), it is equivalent to calling:
NodeHandle child(ns);
When a NodeHandle is copied, it inherits the namespace of the NodeHandle being copied, and increments the reference count of the global node state by 1.
| InvalidNameException | if the namespace is not a valid graph resource name |
| roswrap::NodeHandle::NodeHandle | ( | const NodeHandle & | parent, |
| const std::string & | ns, | ||
| const M_string & | remappings | ||
| ) |
Parent constructor.
This version of the constructor takes a "parent" NodeHandle. If the passed "ns" is relative (does not start with a slash), it is equivalent to calling:
NodeHandle child(parent.getNamespace() + "/" + ns, remappings);
If the passed "ns" is absolute (does start with a slash), it is equivalent to calling:
NodeHandle child(ns, remappings);
This version also lets you pass in name remappings that are specific to this NodeHandle
When a NodeHandle is copied, it inherits the namespace of the NodeHandle being copied, and increments the reference count of the global node state by 1.
| InvalidNameException | if the namespace is not a valid graph resource name |
| roswrap::NodeHandle::~NodeHandle | ( | ) |
Destructor.
When a NodeHandle is destroyed, it decrements a global reference count by 1, and if the reference count is now 0, shuts down the node.
| Publisher roswrap::NodeHandle::advertise | ( | AdvertiseOptions & | ops | ) |
\brief Advertise a topic, with full range of AdvertiseOptions This call connects to the master to publicize that the node will be publishing messages on the given topic. This method returns a Publisher that allows you to publish a message on this topic. This is an advanced version advertise() that exposes all options (through the AdvertiseOptions structure) \param ops Advertise options to use \return On success, a Publisher that, when it goes out of scope, will automatically release a reference on this advertisement. On failure, an empty Publisher which can be checked with:
ros::NodeHandle nodeHandle;
ros::AdvertiseOptions ops;
...
ros::publisher pub = nodeHandle.advertise(ops);
if (pub) // Enter if publisher is valid
{
...
}
\throws InvalidNameException If the topic name begins with a tilde, or is an otherwise invalid graph resource name
|
inline |
Advertise a topic, simple version.
This call connects to the master to publicize that the node will be publishing messages on the given topic. This method returns a Publisher that allows you to publish a message on this topic.
This version of advertise is a templated convenience function, and can be used like so
ros::Publisher pub = handle.advertise<std_msgs::Empty>("my_topic", 1);
| topic | Topic to advertise on |
| queue_size | Maximum number of outgoing messages to be queued for delivery to subscribers |
| latch | (optional) If true, the last message published on this topic will be saved and sent to new subscribers when they connect |
| InvalidNameException | If the topic name begins with a tilde, or is an otherwise invalid graph resource name, or is an otherwise invalid graph resource name |
Definition at line 249 of file node_handle.h.
|
inline |
\brief Advertise a topic, with most of the available options, including subscriber status callbacks
This call connects to the master to publicize that the node will be
publishing messages on the given topic. This method returns a Publisher that allows you to
publish a message on this topic.
This version of advertise allows you to pass functions to be called when new subscribers connect and
disconnect. With bare functions it can be used like so:
\verbatim
void connectCallback(const ros::SingleSubscriberPublisher& pub)
{
// Do something
}
handle.advertise<std_msgs::Empty>("my_topic", 1, (ros::SubscriberStatusCallback)connectCallback);With class member functions it can be used with std::bind:
void MyClass::connectCallback(const ros::SingleSubscriberPublisher& pub)
{
// Do something
}
MyClass my_class;
ros::Publisher pub = handle.advertise<std_msgs::Empty>("my_topic", 1,
std::bind(&MyClass::connectCallback, my_class, std::placeholders::_1));| topic | Topic to advertise on |
| queue_size | Maximum number of outgoing messages to be queued for delivery to subscribers |
| connect_cb | Function to call when a subscriber connects |
| disconnect_cb | (optional) Function to call when a subscriber disconnects |
| tracked_object | (optional) A shared pointer to an object to track for these callbacks. If set, the a weak_ptr will be created to this object, and if the reference count goes to 0 the subscriber callbacks will not get called. Note that setting this will cause a new reference to be added to the object before the callback, and for it to go out of scope (and potentially be deleted) in the code path (and therefore thread) that the callback is invoked from. |
| latch | (optional) If true, the last message published on this topic will be saved and sent to new subscribers when they connect |
ros::NodeHandle nodeHandle;
ros::publisher pub = nodeHandle.advertise<std_msgs::Empty>("my_topic", 1, (ros::SubscriberStatusCallback)callback);
if (pub) // Enter if publisher is valid
{
...
}
| InvalidNameException | If the topic name begins with a tilde, or is an otherwise invalid graph resource name |
Definition at line 315 of file node_handle.h.
| ServiceServer roswrap::NodeHandle::advertiseService | ( | AdvertiseServiceOptions & | ops | ) |
\brief Advertise a service, with full range of AdvertiseServiceOptions This call connects to the master to publicize that the node will be offering an RPC service with the given name. This version of advertiseService allows the full set of options, exposed through the AdvertiseServiceOptions class \param ops Advertise options \return On success, a ServiceServer that, when all copies of it go out of scope, will unadvertise this service. On failure, an empty ServiceServer which can be checked with:
AdvertiseServiceOptions ops;
...
ros::NodeHandle nodeHandle;
ros::ServiceServer service = nodeHandle.advertiseService(ops);
if (service) // Enter if advertised service is valid
{
...
}
| InvalidNameException | If the service name begins with a tilde, or is an otherwise invalid graph resource name |
|
inline |
\brief Advertise a service, version for bare function This call connects to the master to publicize that the node will be offering an RPC service with the given name. This is a convenience function for using bare functions, and can be used like so:
bool callback(std_srvs::Empty& request, std_srvs::Empty& response)
{
return true;
}
ros::ServiceServer service = handle.advertiseService("my_service", callback);
\param service Service name to advertise on \param srv_func function pointer to call when a message has arrived \return On success, a ServiceServer that, when all copies of it go out of scope, will unadvertise this service. On failure, an empty ServiceServer which can be checked with:
bool Foo::callback(std_srvs::Empty& request, std_srvs::Empty& response)
{
return true;
}
ros::NodeHandle nodeHandle;
Foo foo_object;
ros::ServiceServer service = nodeHandle.advertiseService("my_service", callback);
if (service) // Enter if advertised service is valid
{
...
}
| InvalidNameException | If the service name begins with a tilde, or is an otherwise invalid graph resource name |
Definition at line 1061 of file node_handle.h.
|
inline |
\brief Advertise a service, version for bare function using ros::ServiceEvent as the callback parameter type This call connects to the master to publicize that the node will be offering an RPC service with the given name. This is a convenience function for using bare functions, and can be used like so:
bool callback(ros::ServiceEvent<std_srvs::Empty, std_srvs::Empty>& event)
{
return true;
}
ros::ServiceServer service = handle.advertiseService("my_service", callback);
\param service Service name to advertise on \param srv_func function pointer to call when a message has arrived \return On success, a ServiceServer that, when all copies of it go out of scope, will unadvertise this service. On failure, an empty ServiceServer which can be checked with:
bool Foo::callback(std_srvs::Empty& request, std_srvs::Empty& response)
{
return true;
}
ros::NodeHandle nodeHandle;
Foo foo_object;
ros::ServiceServer service = nodeHandle.advertiseService("my_service", callback);
if (service) // Enter if advertised service is valid
{
...
}
| InvalidNameException | If the service name begins with a tilde, or is an otherwise invalid graph resource name |
Definition at line 1104 of file node_handle.h.
|
inline |
\brief Advertise a service, version for class member function with shared_ptr This call connects to the master to publicize that the node will be offering an RPC service with the given name. This is a convenience function for using member functions on shared pointers, and can be used like so:
bool Foo::callback(std_srvs::Empty& request, std_srvs::Empty& response)
{
return true;
}
std::shared_ptr<Foo> foo_object(std::make_shared<Foo>());
ros::ServiceServer service = handle.advertiseService("my_service", &Foo::callback, foo_object);
\param service Service name to advertise on \param srv_func Member function pointer to call when a message has arrived \param obj Object to call srv_func on. Since this is a shared_ptr, it will automatically be tracked with a weak_ptr, and if the object is deleted the service callback will stop being called (and therefore will not crash). \return On success, a ServiceServer that, when all copies of it go out of scope, will unadvertise this service. On failure, an empty ServiceServer which can be checked with:
bool Foo::callback(std_srvs::Empty& request, std_srvs::Empty& response)
{
return true;
}
ros::NodeHandle nodeHandle;
Foo foo_object;
ros::ServiceServer service = nodeHandle.advertiseService("my_service", &Foo::callback, &foo_object);
if (service) // Enter if advertised service is valid
{
...
}
| InvalidNameException | If the service name begins with a tilde, or is an otherwise invalid graph resource name |
Definition at line 970 of file node_handle.h.
|
inline |
\brief Advertise a service, version for class member function with bare pointer This call connects to the master to publicize that the node will be offering an RPC service with the given name. This is a convenience function for using member functions, and can be used like so:
bool Foo::callback(std_srvs::Empty& request, std_srvs::Empty& response)
{
return true;
}
Foo foo_object;
ros::ServiceServer service = handle.advertiseService("my_service", &Foo::callback, &foo_object);
\param service Service name to advertise on \param srv_func Member function pointer to call when a message has arrived \param obj Object to call srv_func on \return On success, a ServiceServer that, when all copies of it go out of scope, will unadvertise this service. On failure, an empty ServiceServer which can be checked with:
bool Foo::callback(std_srvs::Empty& request, std_srvs::Empty& response)
{
return true;
}
ros::NodeHandle nodeHandle;
Foo foo_object;
ros::ServiceServer service = nodeHandle.advertiseService("my_service", &Foo::callback, &foo_object);
if (service) // Enter if advertised service is valid
{
...
}
| InvalidNameException | If the service name begins with a tilde, or is an otherwise invalid graph resource name, or is an otherwise invalid graph resource name |
Definition at line 879 of file node_handle.h.
|
inline |
\brief Advertise a service, version for class member function with shared_ptr using ros::ServiceEvent as the callback parameter type This call connects to the master to publicize that the node will be offering an RPC service with the given name. This is a convenience function for using member functions on shared pointers, and can be used like so:
bool Foo::callback(ros::ServiceEvent<std_srvs::Empty, std_srvs::Empty>& event)
{
return true;
}
std::shared_ptr<Foo> foo_object(std::make_shared<Foo>());
ros::ServiceServer service = handle.advertiseService("my_service", &Foo::callback, foo_object);
\param service Service name to advertise on \param srv_func Member function pointer to call when a message has arrived \param obj Object to call srv_func on. Since this is a shared_ptr, it will automatically be tracked with a weak_ptr, and if the object is deleted the service callback will stop being called (and therefore will not crash). \return On success, a ServiceServer that, when all copies of it go out of scope, will unadvertise this service. On failure, an empty ServiceServer which can be checked with:
bool Foo::callback(std_srvs::Empty& request, std_srvs::Empty& response)
{
return true;
}
ros::NodeHandle nodeHandle;
Foo foo_object;
ros::ServiceServer service = nodeHandle.advertiseService("my_service", &Foo::callback, &foo_object);
if (service) // Enter if advertised service is valid
{
...
}
| InvalidNameException | If the service name begins with a tilde, or is an otherwise invalid graph resource name |
Definition at line 1017 of file node_handle.h.
|
inline |
\brief Advertise a service, version for class member function with bare pointer using ros::ServiceEvent as the callback parameter type This call connects to the master to publicize that the node will be offering an RPC service with the given name. This is a convenience function for using member functions, and can be used like so:
bool Foo::callback(ros::ServiceEvent<std_srvs::Empty::Request, std_srvs::Empty::Response>& event)
{
return true;
}
Foo foo_object;
ros::ServiceServer service = handle.advertiseService("my_service", &Foo::callback, &foo_object);
\param service Service name to advertise on \param srv_func Member function pointer to call when a message has arrived \param obj Object to call srv_func on \return On success, a ServiceServer that, when all copies of it go out of scope, will unadvertise this service. On failure, an empty ServiceServer which can be checked with:
bool Foo::callback(std_srvs::Empty& request, std_srvs::Empty& response)
{
return true;
}
ros::NodeHandle nodeHandle;
Foo foo_object;
ros::ServiceServer service = nodeHandle.advertiseService("my_service", &Foo::callback, &foo_object);
if (service) // Enter if advertised service is valid
{
...
}
| InvalidNameException | If the service name begins with a tilde, or is an otherwise invalid graph resource name, or is an otherwise invalid graph resource name |
Definition at line 924 of file node_handle.h.
|
inline |
\brief Advertise a service, version for arbitrary std::function object This call connects to the master to publicize that the node will be offering an RPC service with the given name. This version of advertiseService allows non-class functions, as well as functor objects and std::bind (along with anything else std::function supports). \param service Service name to advertise on \param callback Callback to call when the service is called \param tracked_object A shared pointer to an object to track for these callbacks. If set, the a weak_ptr will be created to this object, and if the reference count goes to 0 the subscriber callbacks will not get called. Note that setting this will cause a new reference to be added to the object before the callback, and for it to go out of scope (and potentially be deleted) in the code path (and therefore thread) that the callback is invoked from. \return On success, a ServiceServer that, when all copies of it go out of scope, will unadvertise this service. On failure, an empty ServiceServer which can be checked with:
bool Foo::callback(std_srvs::Empty& request, std_srvs::Empty& response)
{
return true;
}
ros::NodeHandle nodeHandle;
Foo foo_object;
ros::ServiceServer service = nodeHandle.advertiseService("my_service", callback);
if (service) // Enter if advertised service is valid
{
...
}
| InvalidNameException | If the service name begins with a tilde, or is an otherwise invalid graph resource name |
Definition at line 1145 of file node_handle.h.
|
inline |
\brief Advertise a service, version for arbitrary std::function object using ros::ServiceEvent as the callback parameter type Note that the template parameter S is the full event type, e.g. ros::ServiceEvent<Req, Res> This call connects to the master to publicize that the node will be offering an RPC service with the given name. This version of advertiseService allows non-class functions, as well as functor objects and std::bind (along with anything else std::function supports). \param service Service name to advertise on \param callback Callback to call when the service is called \param tracked_object A shared pointer to an object to track for these callbacks. If set, the a weak_ptr will be created to this object, and if the reference count goes to 0 the subscriber callbacks will not get called. Note that setting this will cause a new reference to be added to the object before the callback, and for it to go out of scope (and potentially be deleted) in the code path (and therefore thread) that the callback is invoked from. \return On success, a ServiceServer that, when all copies of it go out of scope, will unadvertise this service. On failure, an empty ServiceServer which can be checked with:
bool Foo::callback(std_srvs::Empty& request, std_srvs::Empty& response)
{
return true;
}
ros::NodeHandle nodeHandle;
Foo foo_object;
ros::ServiceServer service = nodeHandle.advertiseService("my_service", callback);
if (service) // Enter if advertised service is valid
{
...
}
| InvalidNameException | If the service name begins with a tilde, or is an otherwise invalid graph resource name |
Definition at line 1190 of file node_handle.h.
|
private |
| Timer roswrap::NodeHandle::createTimer | ( | Duration | period, |
| const TimerCallback & | callback, | ||
| bool | oneshot = false, |
||
| bool | autostart = true |
||
| ) | const |
Create a timer which will call a callback at the specified rate. This variant takes anything that can be bound to a Boost.Function, including a bare function.
When the Timer (and all copies of it) returned goes out of scope, the timer will automatically be stopped, and the callback will no longer be called.
| period | The period at which to call the callback |
| callback | The function to call |
| oneshot | If true, this timer will only fire once |
| autostart | If true (default), return timer that is already started |
|
inline |
Create a timer which will call a callback at the specified rate. This variant takes a class member function, and a bare pointer to the object to call the method on.
When the Timer (and all copies of it) returned goes out of scope, the timer will automatically be stopped, and the callback will no longer be called.
| period | The period at which to call the callback |
| callback | The method to call |
| obj | The object to call the method on |
| oneshot | If true, this timer will only fire once |
| autostart | If true (default), return timer that is already started |
Definition at line 1313 of file node_handle.h.
|
inline |
Create a timer which will call a callback at the specified rate. This variant takes a class member function, and a shared pointer to the object to call the method on.
When the Timer (and all copies of it) returned goes out of scope, the timer will automatically be stopped, and the callback will no longer be called.
| period | The period at which to call the callback |
| callback | The method to call |
| obj | The object to call the method on. Since this is a shared pointer, the object will automatically be tracked with a weak_ptr so that if it is deleted before the Timer goes out of scope the callback will no longer be called (and therefore will not crash). |
| oneshot | If true, this timer will only fire once |
| autostart | If true (default), return timer that is already started |
Definition at line 1355 of file node_handle.h.
|
inline |
Create a timer which will call a callback at the specified rate. This variant takes a class member function, and a bare pointer to the object to call the method on.
When the Timer (and all copies of it) returned goes out of scope, the timer will automatically be stopped, and the callback will no longer be called.
| period | The period at which to call the callback |
| callback | The method to call |
| obj | The object to call the method on |
| oneshot | If true, this timer will only fire once |
| autostart | If true (default), return timer that is already started |
Definition at line 1333 of file node_handle.h.
|
inline |
Create a timer which will call a callback at the specified rate. This variant takes a class member function, and a bare pointer to the object to call the method on.
When the Timer (and all copies of it) returned goes out of scope, the timer will automatically be stopped, and the callback will no longer be called.
| r | The rate at which to call the callback |
| callback | The method to call |
| obj | The object to call the method on |
| oneshot | If true, this timer will only fire once |
| autostart | If true (default), return timer that is already started |
Definition at line 1294 of file node_handle.h.
| Timer roswrap::NodeHandle::createTimer | ( | TimerOptions & | ops | ) | const |
Create a timer which will call a callback at the specified rate. This variant allows the full range of TimerOptions.
When the Timer (and all copies of it) returned goes out of scope, the timer will automatically be stopped, and the callback will no longer be called.
| ops | The options to use when creating the timer |
| WallTimer roswrap::NodeHandle::createWallTimer | ( | WallDuration | period, |
| const WallTimerCallback & | callback, | ||
| bool | oneshot = false, |
||
| bool | autostart = true |
||
| ) | const |
Create a timer which will call a callback at the specified rate, using wall time to determine when to call the callback instead of ROS time. This variant takes anything that can be bound to a Boost.Function, including a bare function.
When the Timer (and all copies of it) returned goes out of scope, the timer will automatically be stopped, and the callback will no longer be called.
| period | The period at which to call the callback |
| callback | The function to call |
| oneshot | If true, this timer will only fire once |
|
inline |
Create a timer which will call a callback at the specified rate, using wall time to determine when to call the callback instead of ROS time. This variant takes a class member function, and a shared pointer to the object to call the method on.
When the Timer (and all copies of it) returned goes out of scope, the timer will automatically be stopped, and the callback will no longer be called.
| period | The period at which to call the callback |
| callback | The method to call |
| obj | The object to call the method on. Since this is a shared pointer, the object will automatically be tracked with a weak_ptr so that if it is deleted before the Timer goes out of scope the callback will no longer be called (and therefore will not crash). |
| oneshot | If true, this timer will only fire once |
Definition at line 1432 of file node_handle.h.
|
inline |
Create a timer which will call a callback at the specified rate, using wall time to determine when to call the callback instead of ROS time. This variant takes a class member function, and a bare pointer to the object to call the method on.
When the Timer (and all copies of it) returned goes out of scope, the timer will automatically be stopped, and the callback will no longer be called.
| period | The period at which to call the callback |
| callback | The method to call |
| obj | The object to call the method on |
| oneshot | If true, this timer will only fire once |
| autostart | If true (default), return timer that is already started |
Definition at line 1410 of file node_handle.h.
| WallTimer roswrap::NodeHandle::createWallTimer | ( | WallTimerOptions & | ops | ) | const |
Create a timer which will call a callback at the specified rate, using wall time to determine when to call the callback instead of ROS time. This variant allows the full range of TimerOptions.
When the Timer (and all copies of it) returned goes out of scope, the timer will automatically be stopped, and the callback will no longer be called.
| ops | The options to use when creating the timer |
| bool roswrap::NodeHandle::deleteParam | ( | const std::string & | key | ) | const |
Delete a parameter from the parameter server.
| key | The key to delete. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
|
private |
|
inline |
Returns the callback queue associated with this NodeHandle. If none has been explicitly set, returns the global queue.
Definition at line 183 of file node_handle.h.
|
inline |
Returns the namespace associated with this NodeHandle.
Definition at line 191 of file node_handle.h.
| bool roswrap::NodeHandle::getParam | ( | const std::string & | key, |
| bool & | b | ||
| ) | const |
Get a boolean value from the parameter server.
If you want to provide a default value in case the key does not exist use param().
| key | The key to be used in the parameter server's dictionary | |
| [out] | b | Storage for the retrieved value. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
Definition at line 197 of file rossimu.cpp.
| bool roswrap::NodeHandle::getParam | ( | const std::string & | key, |
| double & | d | ||
| ) | const |
Get a double value from the parameter server.
If you want to provide a default value in case the key does not exist use param().
| key | The key to be used in the parameter server's dictionary | |
| [out] | d | Storage for the retrieved value. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
Definition at line 152 of file rossimu.cpp.
| bool roswrap::NodeHandle::getParam | ( | const std::string & | key, |
| float & | f | ||
| ) | const |
Get a float value from the parameter server.
If you want to provide a default value in case the key does not exist use param().
| key | The key to be used in the parameter server's dictionary | |
| [out] | f | Storage for the retrieved value. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
Definition at line 167 of file rossimu.cpp.
| bool roswrap::NodeHandle::getParam | ( | const std::string & | key, |
| int & | i | ||
| ) | const |
Get an integer value from the parameter server.
If you want to provide a default value in case the key does not exist use param().
| key | The key to be used in the parameter server's dictionary | |
| [out] | i | Storage for the retrieved value. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
Definition at line 182 of file rossimu.cpp.
| bool roswrap::NodeHandle::getParam | ( | const std::string & | key, |
| std::map< std::string, bool > & | map | ||
| ) | const |
Get a boolean map value from the parameter server.
If you want to provide a default value in case the key does not exist use param().
| key | The key to be used in the parameter server's dictionary | |
| [out] | map | Storage for the retrieved value. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| bool roswrap::NodeHandle::getParam | ( | const std::string & | key, |
| std::map< std::string, double > & | map | ||
| ) | const |
Get a double map value from the parameter server.
If you want to provide a default value in case the key does not exist use param().
| key | The key to be used in the parameter server's dictionary | |
| [out] | map | Storage for the retrieved value. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| bool roswrap::NodeHandle::getParam | ( | const std::string & | key, |
| std::map< std::string, float > & | map | ||
| ) | const |
Get a float map value from the parameter server.
If you want to provide a default value in case the key does not exist use param().
| key | The key to be used in the parameter server's dictionary | |
| [out] | map | Storage for the retrieved value. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| bool roswrap::NodeHandle::getParam | ( | const std::string & | key, |
| std::map< std::string, int > & | map | ||
| ) | const |
Get an int map value from the parameter server.
If you want to provide a default value in case the key does not exist use param().
| key | The key to be used in the parameter server's dictionary | |
| [out] | map | Storage for the retrieved value. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| bool roswrap::NodeHandle::getParam | ( | const std::string & | key, |
| std::map< std::string, std::string > & | map | ||
| ) | const |
Get a string map value from the parameter server.
If you want to provide a default value in case the key does not exist use param().
| key | The key to be used in the parameter server's dictionary | |
| [out] | map | Storage for the retrieved value. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| bool roswrap::NodeHandle::getParam | ( | const std::string & | key, |
| std::string & | s | ||
| ) | const |
Get a string value from the parameter server.
| key | The key to be used in the parameter server's dictionary | |
| [out] | s | Storage for the retrieved value. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
Definition at line 144 of file rossimu.cpp.
| bool roswrap::NodeHandle::getParam | ( | const std::string & | key, |
| std::vector< bool > & | vec | ||
| ) | const |
Get a boolean vector value from the parameter server.
If you want to provide a default value in case the key does not exist use param().
| key | The key to be used in the parameter server's dictionary | |
| [out] | vec | Storage for the retrieved value. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| bool roswrap::NodeHandle::getParam | ( | const std::string & | key, |
| std::vector< double > & | vec | ||
| ) | const |
Get a double vector value from the parameter server.
If you want to provide a default value in case the key does not exist use param().
| key | The key to be used in the parameter server's dictionary | |
| [out] | vec | Storage for the retrieved value. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| bool roswrap::NodeHandle::getParam | ( | const std::string & | key, |
| std::vector< float > & | vec | ||
| ) | const |
Get a float vector value from the parameter server.
If you want to provide a default value in case the key does not exist use param().
| key | The key to be used in the parameter server's dictionary | |
| [out] | vec | Storage for the retrieved value. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| bool roswrap::NodeHandle::getParam | ( | const std::string & | key, |
| std::vector< int > & | vec | ||
| ) | const |
Get an int vector value from the parameter server.
If you want to provide a default value in case the key does not exist use param().
| key | The key to be used in the parameter server's dictionary | |
| [out] | vec | Storage for the retrieved value. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| bool roswrap::NodeHandle::getParam | ( | const std::string & | key, |
| std::vector< std::string > & | vec | ||
| ) | const |
Get a string vector value from the parameter server.
If you want to provide a default value in case the key does not exist use param().
| key | The key to be used in the parameter server's dictionary | |
| [out] | vec | Storage for the retrieved value. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| bool roswrap::NodeHandle::getParam | ( | const std::string & | key, |
| XmlRpc::XmlRpcValue & | v | ||
| ) | const |
Get an arbitrary XML/RPC value from the parameter server.
If you want to provide a default value in case the key does not exist use param().
| key | The key to be used in the parameter server's dictionary | |
| [out] | v | Storage for the retrieved value. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| bool roswrap::NodeHandle::getParamCached | ( | const std::string & | key, |
| bool & | b | ||
| ) | const |
Get a boolean value from the parameter server, with local caching.
This method will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.
| key | The key to be used in the parameter server's dictionary | |
| [out] | b | Storage for the retrieved value. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| bool roswrap::NodeHandle::getParamCached | ( | const std::string & | key, |
| double & | d | ||
| ) | const |
Get a double value from the parameter server, with local caching.
This method will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.
| key | The key to be used in the parameter server's dictionary | |
| [out] | d | Storage for the retrieved value. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| bool roswrap::NodeHandle::getParamCached | ( | const std::string & | key, |
| float & | f | ||
| ) | const |
Get a float value from the parameter server, with local caching.
This method will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.
| key | The key to be used in the parameter server's dictionary | |
| [out] | f | Storage for the retrieved value. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| bool roswrap::NodeHandle::getParamCached | ( | const std::string & | key, |
| int & | i | ||
| ) | const |
Get an integer value from the parameter server, with local caching.
This method will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.
| key | The key to be used in the parameter server's dictionary | |
| [out] | i | Storage for the retrieved value. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| bool roswrap::NodeHandle::getParamCached | ( | const std::string & | key, |
| std::map< std::string, bool > & | map | ||
| ) | const |
Get a string->bool map value from the parameter server, with local caching.
This method will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.
| key | The key to be used in the parameter server's dictionary | |
| [out] | map | Storage for the retrieved value. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| bool roswrap::NodeHandle::getParamCached | ( | const std::string & | key, |
| std::map< std::string, double > & | map | ||
| ) | const |
Get a string->double map value from the parameter server, with local caching.
This method will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.
| key | The key to be used in the parameter server's dictionary | |
| [out] | map | Storage for the retrieved value. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| bool roswrap::NodeHandle::getParamCached | ( | const std::string & | key, |
| std::map< std::string, float > & | map | ||
| ) | const |
Get a string->float map value from the parameter server, with local caching.
This method will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.
| key | The key to be used in the parameter server's dictionary | |
| [out] | map | Storage for the retrieved value. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| bool roswrap::NodeHandle::getParamCached | ( | const std::string & | key, |
| std::map< std::string, int > & | map | ||
| ) | const |
Get a string->int map value from the parameter server, with local caching.
This method will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.
| key | The key to be used in the parameter server's dictionary | |
| [out] | map | Storage for the retrieved value. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| bool roswrap::NodeHandle::getParamCached | ( | const std::string & | key, |
| std::map< std::string, std::string > & | map | ||
| ) | const |
Get a string->std::string map value from the parameter server, with local caching.
This method will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.
| key | The key to be used in the parameter server's dictionary | |
| [out] | map | Storage for the retrieved value. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| bool roswrap::NodeHandle::getParamCached | ( | const std::string & | key, |
| std::string & | s | ||
| ) | const |
Get a string value from the parameter server, with local caching.
If you want to provide a default value in case the key does not exist use param().
This method will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.
| key | The key to be used in the parameter server's dictionary | |
| [out] | s | Storage for the retrieved value. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| bool roswrap::NodeHandle::getParamCached | ( | const std::string & | key, |
| std::vector< bool > & | vec | ||
| ) | const |
Get a bool vector value from the parameter server, with local caching.
This method will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.
| key | The key to be used in the parameter server's dictionary | |
| [out] | vec | Storage for the retrieved value. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| bool roswrap::NodeHandle::getParamCached | ( | const std::string & | key, |
| std::vector< double > & | vec | ||
| ) | const |
Get a double vector value from the parameter server, with local caching.
This method will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.
| key | The key to be used in the parameter server's dictionary | |
| [out] | vec | Storage for the retrieved value. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| bool roswrap::NodeHandle::getParamCached | ( | const std::string & | key, |
| std::vector< float > & | vec | ||
| ) | const |
Get a float vector value from the parameter server, with local caching.
This method will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.
| key | The key to be used in the parameter server's dictionary | |
| [out] | vec | Storage for the retrieved value. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| bool roswrap::NodeHandle::getParamCached | ( | const std::string & | key, |
| std::vector< int > & | vec | ||
| ) | const |
Get a int vector value from the parameter server, with local caching.
This method will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.
| key | The key to be used in the parameter server's dictionary | |
| [out] | vec | Storage for the retrieved value. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| bool roswrap::NodeHandle::getParamCached | ( | const std::string & | key, |
| std::vector< std::string > & | vec | ||
| ) | const |
Get a std::string vector value from the parameter server, with local caching.
This method will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.
| key | The key to be used in the parameter server's dictionary | |
| [out] | vec | Storage for the retrieved value. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| bool roswrap::NodeHandle::getParamCached | ( | const std::string & | key, |
| XmlRpc::XmlRpcValue & | v | ||
| ) | const |
Get an arbitrary XML/RPC value from the parameter server, with local caching.
This method will cache parameters locally, and subscribe for updates from the parameter server. Once the parameter is retrieved for the first time no subsequent getCached() calls with the same key will query the master – they will instead look up in the local cache.
| key | The key to be used in the parameter server's dictionary | |
| [out] | v | Storage for the retrieved value. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| bool roswrap::NodeHandle::getParamNames | ( | std::vector< std::string > & | keys | ) | const |
Get the keys for all the parameters in the parameter server.
| keys | The keys retrieved. |
|
inline |
Returns the namespace associated with this NodeHandle as it was passed in (before it was resolved)
Definition at line 197 of file node_handle.h.
| bool roswrap::NodeHandle::hasParam | ( | const std::string & | key | ) | const |
Check whether a parameter exists on the parameter server.
| key | The key to check. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| bool roswrap::NodeHandle::ok | ( | ) | const |
Check whether it's time to exit.
This method checks to see if both ros::ok() is true and shutdown() has not been called on this NodeHandle, to see whether it's yet time to exit. ok() is false once either ros::shutdown() or NodeHandle::shutdown() have been called
| NodeHandle& roswrap::NodeHandle::operator= | ( | const NodeHandle & | rhs | ) |
|
inline |
Return value from parameter server, or default if unavailable.
This method tries to retrieve the indicated parameter value from the parameter server. If the parameter cannot be retrieved, default_val is returned instead.
| param_name | The key to be searched on the parameter server. |
| default_val | Value to return if the server doesn't contain this parameter. |
default_val if unavailable.| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name. |
Definition at line 2074 of file node_handle.h.
|
inline |
Assign value from parameter server, with default.
This method tries to retrieve the indicated parameter value from the parameter server, storing the result in param_val. If the value cannot be retrieved from the server, default_val is used instead.
| param_name | The key to be searched on the parameter server. | |
| [out] | param_val | Storage for the retrieved value. |
| default_val | Value to use if the server doesn't contain this parameter. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
Definition at line 2041 of file node_handle.h.
|
private |
|
private |
| std::string roswrap::NodeHandle::resolveName | ( | const std::string & | name, |
| bool | remap = true |
||
| ) | const |
Resolves a name into a fully-qualified name.
Resolves a name into a fully qualified name, eg. "blah" => "/namespace/blah". By default also applies any matching name-remapping rules (which were usually supplied on the command line at startup) to the given name, returning the resulting remapped name.
| name | Name to remap |
| remap | Whether to apply name-remapping rules |
| InvalidNameException | If the name begins with a tilde, or is an otherwise invalid graph resource name |
| bool roswrap::NodeHandle::searchParam | ( | const std::string & | key, |
| std::string & | result | ||
| ) | const |
Search up the tree for a parameter with a given key.
This function parameter server's searchParam feature to search up the tree for a parameter. For example, if the parameter server has a parameter [/a/b] and you're in the namespace [/a/c/d], searching for the parameter "b" will yield [/a/b]. If [/a/c/d/b] existed, that parameter would be returned instead.
| key | the parameter to search for | |
| [out] | result | the found value (if any) |
|
inline |
Create a client for a service, version templated on two message types.
When the last handle reference of a persistent connection is cleared, the connection will automatically close.
| service_name | The name of the service to connect to |
| persistent | Whether this connection should persist. Persistent services keep the connection to the remote host active so that subsequent calls will happen faster. In general persistent services are discouraged, as they are not as robust to node failure as non-persistent services. |
| header_values | Key/value pairs you'd like to send along in the connection handshake |
| InvalidNameException | If the service name begins with a tilde, or is an otherwise invalid graph resource name |
Definition at line 1240 of file node_handle.h.
|
inline |
Create a client for a service, version templated on service type.
When the last handle reference of a persistent connection is cleared, the connection will automatically close.
| service_name | The name of the service to connect to |
| persistent | Whether this connection should persist. Persistent services keep the connection to the remote host active so that subsequent calls will happen faster. In general persistent services are discouraged, as they are not as robust to node failure as non-persistent services. |
| header_values | Key/value pairs you'd like to send along in the connection handshake |
| InvalidNameException | If the service name begins with a tilde, or is an otherwise invalid graph resource name |
Definition at line 1260 of file node_handle.h.
| ServiceClient roswrap::NodeHandle::serviceClient | ( | ServiceClientOptions & | ops | ) |
Create a client for a service, version with full range of ServiceClientOptions.
When the last handle reference of a persistent connection is cleared, the connection will automatically close.
| ops | The options for this service client |
| InvalidNameException | If the service name begins with a tilde, or is an otherwise invalid graph resource name |
| void roswrap::NodeHandle::setCallbackQueue | ( | CallbackQueueInterface * | queue | ) |
Set the default callback queue to be used by this NodeHandle.
Setting this will cause any callbacks from advertisements/subscriptions/services/etc. to happen through the use of the specified queue. NULL (the default) causes the global queue (serviced by ros::spin() and ros::spinOnce()) to be used.
| ROSCPP_DECL void roswrap::NodeHandle::setParam | ( | const std::string & | key, |
| bool | b | ||
| ) | const |
Set a boolean value on the parameter server.
| key | The key to be used in the parameter server's dictionary |
| b | The value to be inserted. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
Definition at line 133 of file rossimu.cpp.
Set a string value on the parameter server.
| key | The key to be used in the parameter server's dictionary |
| s | The value to be inserted. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| void roswrap::NodeHandle::setParam | ( | const std::string & | key, |
| const std::map< std::string, bool > & | map | ||
| ) | const |
Set a bool vector value on the parameter server.
| key | The key to be used in the parameter server's dictionary |
| map | The value to be inserted. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| void roswrap::NodeHandle::setParam | ( | const std::string & | key, |
| const std::map< std::string, double > & | map | ||
| ) | const |
Set a double vector value on the parameter server.
| key | The key to be used in the parameter server's dictionary |
| map | The value to be inserted. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| void roswrap::NodeHandle::setParam | ( | const std::string & | key, |
| const std::map< std::string, float > & | map | ||
| ) | const |
Set a float vector value on the parameter server.
| key | The key to be used in the parameter server's dictionary |
| map | The value to be inserted. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| void roswrap::NodeHandle::setParam | ( | const std::string & | key, |
| const std::map< std::string, int > & | map | ||
| ) | const |
Set a int vector value on the parameter server.
| key | The key to be used in the parameter server's dictionary |
| map | The value to be inserted. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| void roswrap::NodeHandle::setParam | ( | const std::string & | key, |
| const std::map< std::string, std::string > & | map | ||
| ) | const |
Set a string vector value on the parameter server.
| key | The key to be used in the parameter server's dictionary |
| map | The value to be inserted. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
Set a string value on the parameter server.
| key | The key to be used in the parameter server's dictionary |
| s | The value to be inserted. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
Definition at line 138 of file rossimu.cpp.
| void roswrap::NodeHandle::setParam | ( | const std::string & | key, |
| const std::vector< bool > & | vec | ||
| ) | const |
Set a bool vector value on the parameter server.
| key | The key to be used in the parameter server's dictionary |
| vec | The value to be inserted. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| void roswrap::NodeHandle::setParam | ( | const std::string & | key, |
| const std::vector< double > & | vec | ||
| ) | const |
Set a double vector value on the parameter server.
| key | The key to be used in the parameter server's dictionary |
| vec | The value to be inserted. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| void roswrap::NodeHandle::setParam | ( | const std::string & | key, |
| const std::vector< float > & | vec | ||
| ) | const |
Set a float vector value on the parameter server.
| key | The key to be used in the parameter server's dictionary |
| vec | The value to be inserted. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| void roswrap::NodeHandle::setParam | ( | const std::string & | key, |
| const std::vector< int > & | vec | ||
| ) | const |
Set a int vector value on the parameter server.
| key | The key to be used in the parameter server's dictionary |
| vec | The value to be inserted. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| void roswrap::NodeHandle::setParam | ( | const std::string & | key, |
| const std::vector< std::string > & | vec | ||
| ) | const |
Set a string vector value on the parameter server.
| key | The key to be used in the parameter server's dictionary |
| vec | The value to be inserted. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| void roswrap::NodeHandle::setParam | ( | const std::string & | key, |
| const XmlRpc::XmlRpcValue & | v | ||
| ) | const |
Set an arbitrary XML/RPC value on the parameter server.
| key | The key to be used in the parameter server's dictionary |
| v | The value to be inserted. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
| ROSCPP_DECL void roswrap::NodeHandle::setParam | ( | const std::string & | key, |
| double | d | ||
| ) | const |
Set a double value on the parameter server.
| key | The key to be used in the parameter server's dictionary |
| d | The value to be inserted. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
Definition at line 123 of file rossimu.cpp.
| ROSCPP_DECL void roswrap::NodeHandle::setParam | ( | const std::string & | key, |
| int | i | ||
| ) | const |
Set an integer value on the parameter server.
| key | The key to be used in the parameter server's dictionary |
| i | The value to be inserted. |
| InvalidNameException | If the parameter key begins with a tilde, or is an otherwise invalid graph resource name |
Definition at line 115 of file rossimu.cpp.
| void roswrap::NodeHandle::shutdown | ( | ) |
Shutdown every handle created through this NodeHandle.
This method will unadvertise every topic and service advertisement, and unsubscribe every subscription created through this NodeHandle.
|
inline |
\brief Subscribe to a topic, version for arbitrary std::function object This method connects to the master to register interest in a given topic. The node will automatically be connected with publishers on this topic. On each message receipt, callback is invoked and passed a shared pointer to the message received. This message should \b not be changed in place, as it is shared with any other subscriptions to this topic. This version of subscribe allows anything bindable to a std::function object \param M [template] the message type \param C [template] the callback parameter type (e.g. const std::shared_ptr<M const>& or const M&) \param topic Topic to subscribe to \param queue_size Number of incoming messages to queue up for processing (messages in excess of this queue capacity will be discarded). \param callback Callback to call when a message has arrived \param tracked_object A shared pointer to an object to track for these callbacks. If set, the a weak_ptr will be created to this object, and if the reference count goes to 0 the subscriber callbacks will not get called. Note that setting this will cause a new reference to be added to the object before the callback, and for it to go out of scope (and potentially be deleted) in the code path (and therefore thread) that the callback is invoked from. \param transport_hints a TransportHints structure which defines various transport-related options \return On success, a Subscriber that, when all copies of it go out of scope, will unsubscribe from this topic. On failure, an empty Subscriber which can be checked with:
void callback(const std_msgs::Empty::ConstPtr& message){...}
ros::NodeHandle nodeHandle;
ros::Subscriber sub = nodeHandle.subscribe("my_topic", 1, callback);
if (sub) // Enter if subscriber is valid
{
...
}
| InvalidNameException | If the topic name begins with a tilde, or is an otherwise invalid graph resource name |
| ConflictingSubscriptionException | If this node is already subscribed to the same topic with a different datatype |
Definition at line 799 of file node_handle.h.
|
inline |
\brief Subscribe to a topic, version for arbitrary std::function object This method connects to the master to register interest in a given topic. The node will automatically be connected with publishers on this topic. On each message receipt, callback is invoked and passed a shared pointer to the message received. This message should \b not be changed in place, as it is shared with any other subscriptions to this topic. This version of subscribe allows anything bindable to a std::function object \param M [template] M here is the message type \param topic Topic to subscribe to \param queue_size Number of incoming messages to queue up for processing (messages in excess of this queue capacity will be discarded). \param callback Callback to call when a message has arrived \param tracked_object A shared pointer to an object to track for these callbacks. If set, the a weak_ptr will be created to this object, and if the reference count goes to 0 the subscriber callbacks will not get called. Note that setting this will cause a new reference to be added to the object before the callback, and for it to go out of scope (and potentially be deleted) in the code path (and therefore thread) that the callback is invoked from. \param transport_hints a TransportHints structure which defines various transport-related options \return On success, a Subscriber that, when all copies of it go out of scope, will unsubscribe from this topic. On failure, an empty Subscriber which can be checked with:
void callback(const std_msgs::Empty::ConstPtr& message){...}
ros::NodeHandle nodeHandle;
ros::Subscriber sub = nodeHandle.subscribe("my_topic", 1, callback);
if (sub) // Enter if subscriber is valid
{
...
}
| InvalidNameException | If the topic name begins with a tilde, or is an otherwise invalid graph resource name |
| ConflictingSubscriptionException | If this node is already subscribed to the same topic with a different datatype |
Definition at line 750 of file node_handle.h.
|
inline |
\brief Subscribe to a topic, version for bare function This method connects to the master to register interest in a given topic. The node will automatically be connected with publishers on this topic. On each message receipt, fp is invoked and passed a shared pointer to the message received. This message should \b not be changed in place, as it is shared with any other subscriptions to this topic. This version of subscribe is a convenience function for using bare functions, and can be used like so:
void callback(const std_msgs::Empty::ConstPtr& message)
{
}
ros::Subscriber sub = handle.subscribe("my_topic", 1, callback);
\param M [template] M here is the message type \param topic Topic to subscribe to \param queue_size Number of incoming messages to queue up for processing (messages in excess of this queue capacity will be discarded). \param fp Function pointer to call when a message has arrived \param transport_hints a TransportHints structure which defines various transport-related options \return On success, a Subscriber that, when all copies of it go out of scope, will unsubscribe from this topic. On failure, an empty Subscriber which can be checked with:
void callback(const std_msgs::Empty::ConstPtr& message){...}
ros::NodeHandle nodeHandle;
ros::Subscriber sub = nodeHandle.subscribe("my_topic", 1, callback);
if (sub) // Enter if subscriber is valid
{
...
}
| InvalidNameException | If the topic name begins with a tilde, or is an otherwise invalid graph resource name |
| ConflictingSubscriptionException | If this node is already subscribed to the same topic with a different datatype |
Definition at line 704 of file node_handle.h.
|
inline |
\brief Subscribe to a topic, version for bare function This method connects to the master to register interest in a given topic. The node will automatically be connected with publishers on this topic. On each message receipt, fp is invoked and passed a shared pointer to the message received. This message should \b not be changed in place, as it is shared with any other subscriptions to this topic. This version of subscribe is a convenience function for using bare functions, and can be used like so:
void callback(const std_msgs::Empty::ConstPtr& message)
{
}
ros::Subscriber sub = handle.subscribe("my_topic", 1, callback);
\param M [template] M here is the callback parameter type (e.g. const std::shared_ptr<M const>& or const M&), \b not the message type, and should almost always be deduced \param topic Topic to subscribe to \param queue_size Number of incoming messages to queue up for processing (messages in excess of this queue capacity will be discarded). \param fp Function pointer to call when a message has arrived \param transport_hints a TransportHints structure which defines various transport-related options \return On success, a Subscriber that, when all copies of it go out of scope, will unsubscribe from this topic. On failure, an empty Subscriber which can be checked with:
void callback(const std_msgs::Empty::ConstPtr& message){...}
ros::NodeHandle nodeHandle;
ros::Subscriber sub = nodeHandle.subscribe("my_topic", 1, callback);
if (sub) // Enter if subscriber is valid
{
...
}
| InvalidNameException | If the topic name begins with a tilde, or is an otherwise invalid graph resource name |
| ConflictingSubscriptionException | If this node is already subscribed to the same topic with a different datatype |
Definition at line 656 of file node_handle.h.
|
inline |
Definition at line 605 of file node_handle.h.
|
inline |
Definition at line 475 of file node_handle.h.
|
inline |
\brief Subscribe to a topic, version for class member function with shared_ptr This method connects to the master to register interest in a given topic. The node will automatically be connected with publishers on this topic. On each message receipt, fp is invoked and passed a shared pointer to the message received. This message should \b not be changed in place, as it is shared with any other subscriptions to this topic. This version of subscribe is a convenience function for using member functions on a shared_ptr:
void Foo::callback(const std_msgs::Empty::ConstPtr& message)
{
}
std::shared_ptr<Foo> foo_object(std::make_shared<Foo>());
ros::Subscriber sub = handle.subscribe("my_topic", 1, &Foo::callback, foo_object);
\param M [template] M here is the message type \param topic Topic to subscribe to \param queue_size Number of incoming messages to queue up for processing (messages in excess of this queue capacity will be discarded). \param fp Member function pointer to call when a message has arrived \param obj Object to call fp on. Since this is a shared pointer, the object will automatically be tracked with a weak_ptr so that if it is deleted before the Subscriber goes out of scope the callback will no longer be called (and therefore will not crash). \param transport_hints a TransportHints structure which defines various transport-related options \return On success, a Subscriber that, when all copies of it go out of scope, will unsubscribe from this topic. On failure, an empty Subscriber which can be checked with:
ros::NodeHandle nodeHandle;
void Foo::callback(const std_msgs::Empty::ConstPtr& message) {}
std::shared_ptr<Foo> foo_object(std::make_shared<Foo>());
ros::Subscriber sub = nodeHandle.subscribe("my_topic", 1, &Foo::callback, foo_object);
if (sub) // Enter if subscriber is valid
{
...
}
| InvalidNameException | If the topic name begins with a tilde, or is an otherwise invalid graph resource name |
| ConflictingSubscriptionException | If this node is already subscribed to the same topic with a different datatype |
Definition at line 594 of file node_handle.h.
|
inline |
\brief Subscribe to a topic, version for class member function with bare pointer This method connects to the master to register interest in a given topic. The node will automatically be connected with publishers on this topic. On each message receipt, fp is invoked and passed a shared pointer to the message received. This message should \b not be changed in place, as it is shared with any other subscriptions to this topic. This version of subscribe is a convenience function for using member functions, and can be used like so:
void Foo::callback(const std_msgs::Empty::ConstPtr& message)
{
}
Foo foo_object;
ros::Subscriber sub = handle.subscribe("my_topic", 1, &Foo::callback, &foo_object);
\param M [template] M here is the message type \param topic Topic to subscribe to \param queue_size Number of incoming messages to queue up for processing (messages in excess of this queue capacity will be discarded). \param fp Member function pointer to call when a message has arrived \param obj Object to call fp on \param transport_hints a TransportHints structure which defines various transport-related options \return On success, a Subscriber that, when all copies of it go out of scope, will unsubscribe from this topic. On failure, an empty Subscriber which can be checked with:
ros::NodeHandle nodeHandle;
void Foo::callback(const std_msgs::Empty::ConstPtr& message) {}
std::shared_ptr<Foo> foo_object(std::make_shared<Foo>());
ros::Subscriber sub = nodeHandle.subscribe("my_topic", 1, &Foo::callback, foo_object);
if (sub) // Enter if subscriber is valid
{
...
}
| InvalidNameException | If the topic name begins with a tilde, or is an otherwise invalid graph resource name |
| ConflictingSubscriptionException | If this node is already subscribed to the same topic with a different datatype |
Definition at line 465 of file node_handle.h.
|
inline |
Definition at line 540 of file node_handle.h.
|
inline |
and the const version
Definition at line 413 of file node_handle.h.
|
inline |
\brief Subscribe to a topic, version for class member function with shared_ptr This method connects to the master to register interest in a given topic. The node will automatically be connected with publishers on this topic. On each message receipt, fp is invoked and passed a shared pointer to the message received. This message should \b not be changed in place, as it is shared with any other subscriptions to this topic. This version of subscribe is a convenience function for using member functions on a shared_ptr:
void Foo::callback(const std_msgs::Empty::ConstPtr& message)
{
}
std::shared_ptr<Foo> foo_object(std::make_shared<Foo>());
ros::Subscriber sub = handle.subscribe("my_topic", 1, &Foo::callback, foo_object);
\param M [template] M here is the callback parameter type (e.g. const std::shared_ptr<M const>& or const M&), \b not the message type, and should almost always be deduced \param topic Topic to subscribe to \param queue_size Number of incoming messages to queue up for processing (messages in excess of this queue capacity will be discarded). \param fp Member function pointer to call when a message has arrived \param obj Object to call fp on. Since this is a shared pointer, the object will automatically be tracked with a weak_ptr so that if it is deleted before the Subscriber goes out of scope the callback will no longer be called (and therefore will not crash). \param transport_hints a TransportHints structure which defines various transport-related options \return On success, a Subscriber that, when all copies of it go out of scope, will unsubscribe from this topic. On failure, an empty Subscriber which can be checked with:
ros::NodeHandle nodeHandle;
void Foo::callback(const std_msgs::Empty::ConstPtr& message) {}
std::shared_ptr<Foo> foo_object(std::make_shared<Foo>());
ros::Subscriber sub = nodeHandle.subscribe("my_topic", 1, &Foo::callback, foo_object);
if (sub) // Enter if subscriber is valid
{
...
}
| InvalidNameException | If the topic name begins with a tilde, or is an otherwise invalid graph resource name |
| ConflictingSubscriptionException | If this node is already subscribed to the same topic with a different datatype |
Definition at line 529 of file node_handle.h.
|
inline |
\brief Subscribe to a topic, version for class member function with bare pointer This method connects to the master to register interest in a given topic. The node will automatically be connected with publishers on this topic. On each message receipt, fp is invoked and passed a shared pointer to the message received. This message should \b not be changed in place, as it is shared with any other subscriptions to this topic. This version of subscribe is a convenience function for using member functions, and can be used like so:
void Foo::callback(const std_msgs::Empty::ConstPtr& message)
{
}
Foo foo_object;
ros::Subscriber sub = handle.subscribe("my_topic", 1, &Foo::callback, &foo_object);
\param M [template] M here is the callback parameter type (e.g. const std::shared_ptr<M const>& or const M&), \b not the message type, and should almost always be deduced \param topic Topic to subscribe to \param queue_size Number of incoming messages to queue up for processing (messages in excess of this queue capacity will be discarded). \param fp Member function pointer to call when a message has arrived \param obj Object to call fp on \param transport_hints a TransportHints structure which defines various transport-related options \return On success, a Subscriber that, when all copies of it go out of scope, will unsubscribe from this topic. On failure, an empty Subscriber which can be checked with:
ros::NodeHandle nodeHandle;
void Foo::callback(const std_msgs::Empty::ConstPtr& message) {}
std::shared_ptr<Foo> foo_object(std::make_shared<Foo>());
ros::Subscriber sub = nodeHandle.subscribe("my_topic", 1, &Foo::callback, foo_object);
if (sub) // Enter if subscriber is valid
{
...
}
| InvalidNameException | If the topic name begins with a tilde, or is an otherwise invalid graph resource name |
| ConflictingSubscriptionException | If this node is already subscribed to the same topic with a different datatype |
Definition at line 402 of file node_handle.h.
| Subscriber roswrap::NodeHandle::subscribe | ( | SubscribeOptions & | ops | ) |
\brief Subscribe to a topic, version with full range of SubscribeOptions This method connects to the master to register interest in a given topic. The node will automatically be connected with publishers on this topic. On each message receipt, fp is invoked and passed a shared pointer to the message received. This message should \b not be changed in place, as it is shared with any other subscriptions to this topic. This version of subscribe allows the full range of options, exposed through the SubscribeOptions class \param ops Subscribe options \return On success, a Subscriber that, when all copies of it go out of scope, will unsubscribe from this topic. On failure, an empty Subscriber which can be checked with:
SubscribeOptions ops;
...
ros::NodeHandle nodeHandle;
ros::Subscriber sub = nodeHandle.subscribe(ops);
if (sub) // Enter if subscriber is valid
{
...
}
| InvalidNameException | If the topic name begins with a tilde, or is an otherwise invalid graph resource name |
| ConflictingSubscriptionException | If this node is already subscribed to the same topic with a different datatype |
|
private |
Definition at line 2115 of file node_handle.h.
|
private |
Definition at line 2117 of file node_handle.h.
|
private |
Definition at line 2110 of file node_handle.h.
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private |
Definition at line 2119 of file node_handle.h.
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private |
Definition at line 2112 of file node_handle.h.
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private |
Definition at line 2111 of file node_handle.h.
|
private |
Definition at line 2113 of file node_handle.h.