Namespaces
	console

	debug

	file_log
	internal

	init_options

	master
	Contains functions which allow you to query information about the master.

	message_operations

	message_traits

	names
	Contains functions which allow you to manipulate ROS names.

	network
	internal

	package

	param
	Contains functions which allow you to query the parameter server.

	serialization

	service
	Contains functions for querying information about and calling a service.

	service_traits

	this_node
	Contains functions which provide information about this process' ROS node.

	topic

	xmlrpc
	internal

Classes
struct	AdvertiseOptions
	Encapsulates all options available for creating a Publisher. More...

struct	AdvertiseServiceOptions
	Encapsulates all options available for creating a ServiceServer. More...

class	AsyncSpinner
	AsyncSpinner is a spinner that does not conform to the abstract Spinner interface. Instead, it spins asynchronously when you call start(), and stops when either you call stop(), ros::shutdown() is called, or its destructor is called. More...

class	ASyncXMLRPCConnection

class	CachedXmlRpcClient

class	CallbackInterface
	Abstract interface for items which can be added to a CallbackQueueInterface. More...

class	CallbackQueue
	This is the default implementation of the ros::CallbackQueueInterface. More...

class	CallbackQueueInterface
	Abstract interface for a queue used to handle all callbacks within roscpp. More...

class	ConflictingSubscriptionException
	Thrown when a second (third,...) subscription is attempted with conflicting arguments. More...

class	Connection
	Encapsulates a connection to a remote host, independent of the transport type. More...

class	ConnectionManager

struct	DefaultMessageCreator

struct	DefaultMessageCreator< pcl::PCLPointCloud2 >

class	Duration
	Duration representation for use with the Time class. More...

class	DurationBase
	Base class for Duration implementations. Provides storage, common functions and operator overloads. This should not need to be used directly. More...

class	Exception
	Base class for all exceptions thrown by ROS. More...

class	Header
	Provides functionality to parse a connection header and retrieve values from it. More...

class	IntraProcessPublisherLink
	Handles a connection to a single publisher on a given topic. Receives messages from a publisher and hands them off to its parent Subscription. More...

class	IntraProcessSubscriberLink
	SubscriberLink handles broadcasting messages to a single subscriber on a single topic. More...

class	InvalidNameException
	Thrown when an invalid graph resource name is specified to any roscpp function. More...

class	InvalidNodeNameException
	Thrown when an invalid node name is specified to ros::init() More...

class	InvalidParameterException
	Thrown when an invalid parameter is passed to a method. More...

class	InvalidPortException
	Thrown when an invalid port is specified. More...

class	MessageDeserializer

class	MessageEvent
	Event type for subscriptions, const ros::MessageEvent<M const>& can be used in your callback instead of const std::shared_ptr<M const>&. More...

class	MultiThreadedSpinner
	Spinner which spins in multiple threads. More...

class	NodeHandle
	roscpp's interface for creating subscribers, publishers, etc. More...

class	NoHighPerformanceTimersException
	Thrown if windoze high perf. timestamping is unavailable. More...

struct	ParameterAdapter
	Generally not for outside use. Adapts a function parameter type into the message type, event type and parameter. Allows you to retrieve a parameter type from an event type. More...

struct	ParameterAdapter< const M & >

struct	ParameterAdapter< const ros::MessageEvent< M > & >

struct	ParameterAdapter< const ros::MessageEvent< M const > & >

struct	ParameterAdapter< const std::shared_ptr< M > & >

struct	ParameterAdapter< const std::shared_ptr< M const > & >

struct	ParameterAdapter< std::shared_ptr< M > >

struct	ParameterAdapter< std::shared_ptr< M const > >

class	PollManager

class	PollSet
	Manages a set of sockets being polled through the poll() function call. More...

class	Publication
	A Publication manages an advertised topic. More...

class	Publisher
	Manages an advertisement on a specific topic. More...

class	PublisherLink
	Handles a connection to a single publisher on a given topic. Receives messages from a publisher and hands them off to its parent Subscription. More...

class	Rate
	Class to help run loops at a desired frequency. More...

class	ROSOutAppender

class	SerializedMessage

class	ServiceCallbackHelper
	Abstract base class used by service servers to deal with concrete message types through a common interface. This is one part of the roscpp API that is not fully stable, so overloading this class is not recommended. More...

struct	ServiceCallbackHelperCallParams

class	ServiceCallbackHelperT
	Concrete generic implementation of ServiceCallbackHelper for any normal service type. More...

class	ServiceClient
	Provides a handle-based interface to service client connections. More...

class	ServiceClientLink
	Handles a connection to a single incoming service client. More...

struct	ServiceClientOptions
	Encapsulates all options available for creating a ServiceClient. More...

class	ServiceEvent
	Event type for services, ros::ServiceEvent<MReq, MRes>& can be used in your callback instead of MReq&, MRes&. More...

class	ServiceManager

class	ServicePublication
	Manages an advertised service. More...

class	ServiceServer
	Manages an service advertisement. More...

class	ServiceServerLink
	Handles a connection to a service. If it's a non-persistent client, automatically disconnects when its first service call has finished. More...

struct	ServiceSpec

struct	ServiceSpecCallParams

class	SingleSubscriberPublisher
	Allows publication of a message to a single subscriber. Only available inside subscriber connection callbacks. More...

class	SingleThreadedSpinner
	Spinner which runs in a single thread. More...

class	Spinner
	Abstract interface for classes which spin on a callback queue. More...

class	StatisticsLogger
	This class logs statistics data about a ROS connection and publishs them periodically on a common topic. More...

struct	SubscribeOptions
	Encapsulates all options available for creating a Subscriber. More...

class	Subscriber
	Manages an subscription callback on a specific topic. More...

struct	SubscriberCallbacks

class	SubscriberLink

class	Subscription
	Manages a subscription on a single topic. More...

class	SubscriptionCallbackHelper
	Abstract base class used by subscriptions to deal with concrete message types through a common interface. This is one part of the roscpp API that is not fully stable, so overloading this class is not recommended. More...

struct	SubscriptionCallbackHelperCallParams

struct	SubscriptionCallbackHelperDeserializeParams

class	SubscriptionCallbackHelperT
	Concrete generic implementation of SubscriptionCallbackHelper for any normal message type. Use directly with care, this is mostly for internal use. More...

class	SubscriptionQueue

class	Time
	Time representation. May either represent wall clock time or ROS clock time. More...

class	TimeBase
	Base class for Time implementations. Provides storage, common functions and operator overloads. This should not need to be used directly. More...

class	TimeNotInitializedException
	Thrown if the ros subsystem hasn't been initialised before use. More...

class	Timer
	Manages a timer callback. More...

struct	TimerEvent
	Structure passed as a parameter to the callback invoked by a ros::Timer. More...

class	TimerManager

struct	TimerOptions
	Encapsulates all options available for starting a timer. More...

class	TopicManager

class	Transport
	Abstract base class that allows abstraction of the transport type, eg. TCP, shared memory, UDP... More...

class	TransportHints
	Provides a way of specifying network transport hints to ros::NodeHandle::subscribe() and someday ros::NodeHandle::advertise() More...

class	TransportPublisherLink
	Handles a connection to a single publisher on a given topic. Receives messages from a publisher and hands them off to its parent Subscription. More...

class	TransportSubscriberLink
	SubscriberLink handles broadcasting messages to a single subscriber on a single topic. More...

class	TransportTCP
	TCPROS transport. More...

class	TransportUDP
	UDPROS transport. More...

struct	TransportUDPHeader

class	WallDuration
	Duration representation for use with the WallTime class. More...

class	WallRate
	Class to help run loops at a desired frequency. This version always uses wall-clock time. More...

class	WallTime
	Time representation. Always wall-clock time. More...

class	WallTimer
	Manages a wall-clock timer callback. More...

struct	WallTimerEvent
	Structure passed as a parameter to the callback invoked by a ros::WallTimer. More...

struct	WallTimerOptions
	Encapsulates all options available for starting a timer. More...

class	XMLRPCCallWrapper

class	XMLRPCManager

Typedefs
typedef std::shared_ptr< AsyncSpinnerImpl >	AsyncSpinnerImplPtr

typedef std::shared_ptr< ASyncXMLRPCConnection >	ASyncXMLRPCConnectionPtr

typedef std::shared_ptr< CallbackInterface >	CallbackInterfacePtr

typedef std::shared_ptr< CallbackQueue >	CallbackQueuePtr

typedef std::shared_ptr< ConnectionManager >	ConnectionManagerPtr

typedef std::shared_ptr< Connection >	ConnectionPtr

typedef std::function< bool(const ConnectionPtr &, const Header &)>	HeaderReceivedFunc

typedef init_options::InitOption	InitOption

typedef TimerManager< WallTime, WallDuration, WallTimerEvent >	InternalTimerManager

typedef std::shared_ptr< InternalTimerManager >	InternalTimerManagerPtr

typedef std::shared_ptr< IntraProcessPublisherLink >	IntraProcessPublisherLinkPtr

typedef std::shared_ptr< IntraProcessSubscriberLink >	IntraProcessSubscriberLinkPtr

typedef std::list< ServicePublicationPtr >	L_ServicePublication

typedef std::list< ServiceServerLinkPtr >	L_ServiceServerLink

typedef std::list< SubscriptionPtr >	L_Subscription

typedef std::map< std::string, std::string >	M_string

typedef std::shared_ptr< M_string >	M_stringPtr

typedef std::shared_ptr< MessageDeserializer >	MessageDeserializerPtr

typedef std::shared_ptr< NodeHandle >	NodeHandlePtr

typedef std::shared_ptr< PollManager >	PollManagerPtr

typedef std::shared_ptr< Publication >	PublicationPtr

typedef std::weak_ptr< Publication >	PublicationWPtr

typedef std::shared_ptr< PublisherLink >	PublisherLinkPtr

typedef std::function< void(const ConnectionPtr &, const boost::shared_array< uint8_t > &, uint32_t, bool)>	ReadFinishedFunc

typedef std::set< ASyncXMLRPCConnectionPtr >	S_ASyncXMLRPCConnection

typedef std::set< ConnectionPtr >	S_Connection

typedef std::set< std::string >	S_string

typedef std::set< SubscriptionPtr >	S_Subscription

typedef std::shared_ptr< ServiceCallbackHelper >	ServiceCallbackHelperPtr

typedef std::shared_ptr< ServiceClientLink >	ServiceClientLinkPtr

typedef std::shared_ptr< ServiceClient >	ServiceClientPtr

typedef std::shared_ptr< ServiceManager >	ServiceManagerPtr

typedef std::shared_ptr< ServicePublication >	ServicePublicationPtr

typedef std::weak_ptr< ServicePublication >	ServicePublicationWPtr

typedef std::shared_ptr< ServiceServerLink >	ServiceServerLinkPtr

typedef int	signal_fd_t

typedef int	socket_fd_t

typedef struct pollfd	socket_pollfd

typedef std::pair< std::string, std::string >	StringPair

typedef std::shared_ptr< SubscriberCallbacks >	SubscriberCallbacksPtr

typedef std::shared_ptr< SubscriberLink >	SubscriberLinkPtr

typedef std::function< void(const SingleSubscriberPublisher &)>	SubscriberStatusCallback

typedef std::shared_ptr< SubscriptionCallbackHelper >	SubscriptionCallbackHelperPtr

typedef std::shared_ptr< SubscriptionCallback >	SubscriptionCallbackPtr

typedef std::shared_ptr< Subscription >	SubscriptionPtr

typedef std::shared_ptr< SubscriptionQueue >	SubscriptionQueuePtr

typedef std::weak_ptr< Subscription >	SubscriptionWPtr

typedef std::function< void(const TimerEvent &)>	TimerCallback

typedef std::shared_ptr< TopicManager >	TopicManagerPtr

typedef std::shared_ptr< Transport >	TransportPtr

typedef std::shared_ptr< TransportPublisherLink >	TransportPublisherLinkPtr

typedef std::shared_ptr< TransportSubscriberLink >	TransportSubscriberLinkPtr

typedef std::shared_ptr< TransportTCP >	TransportTCPPtr

typedef struct roswrap::TransportUDPHeader	TransportUDPHeader

typedef std::shared_ptr< TransportUDP >	TransportUDPPtr

typedef std::vector< ConnectionPtr >	V_Connection

typedef std::vector< PublicationPtr >	V_Publication

typedef std::vector< Publisher >	V_Publisher

typedef std::vector< PublisherLinkPtr >	V_PublisherLink

typedef std::vector< ServiceClientLinkPtr >	V_ServiceClientLink

typedef std::vector< ServicePublicationPtr >	V_ServicePublication

typedef std::vector< ServiceServer >	V_ServiceServer

typedef std::vector< std::string >	V_string

typedef std::vector< Subscriber >	V_Subscriber

typedef std::vector< SubscriberLinkPtr >	V_SubscriberLink

typedef std::vector< SubscriptionPtr >	V_Subscription

typedef std::shared_ptr< void const >	VoidConstPtr

typedef std::weak_ptr< void const >	VoidConstWPtr

typedef std::function< void(void)>	VoidFunc

typedef std::shared_ptr< void >	VoidPtr

typedef boost::signals2::signal< void(void)>	VoidSignal

typedef std::weak_ptr< void >	VoidWPtr

typedef std::vector< std::pair< std::string, std::string > >	VP_string

typedef std::function< void(const WallTimerEvent &)>	WallTimerCallback

typedef std::function< void(const ConnectionPtr &)>	WriteFinishedFunc

typedef std::shared_ptr< XMLRPCCallWrapper >	XMLRPCCallWrapperPtr

typedef std::function< void(XmlRpc::XmlRpcValue &, XmlRpc::XmlRpcValue &)>	XMLRPCFunc

typedef std::shared_ptr< XMLRPCManager >	XMLRPCManagerPtr

Functions
void	close_signal_pair (signal_fd_t signal_pair[2])

ROSCPP_DECL int	close_socket (socket_fd_t &socket)

ROSCPP_DECL int	create_signal_pair (signal_fd_t signal_pair[2])

template<typename M >
ROS_DEPRECATED std::shared_ptr< M >	defaultMessageCreateFunction ()

template<typename M >
std::shared_ptr< M >	defaultServiceCreateFunction ()

void	disableAllSignalsInThisThread ()

const Duration	DURATION_MAX (std::numeric_limits< int32_t >::max(), 999999999)

const Duration	DURATION_MIN (std::numeric_limits< int32_t >::min(), 0)

static bool	g_initialized (true)

static bool	g_stopped (false)

static bool	g_use_sim_time (true)

bool	get_environment_variable (std::string &str, const char *environment_variable)

ROSCPP_DECL CallbackQueue *	getGlobalCallbackQueue ()
	Returns a pointer to the global default callback queue. More...

ROSCPP_DECL InternalTimerManagerPtr	getInternalTimerManager ()

void	getPid (const XmlRpcValue &params, XmlRpcValue &result)

ROSCPP_DECL std::string	getROSArg (int argc, const char const argv, const std::string &arg)
	searches the command line arguments for the given arg parameter. In case this argument is not found an empty string is returned. More...

ROSCPP_DECL void	init (const M_string &remappings, const std::string &name, uint32_t options=0)
	alternate ROS initialization function. More...

ROSCPP_DECL void	init (const VP_string &remapping_args, const std::string &name, uint32_t options=0)
	alternate ROS initialization function. More...

ROSCPP_DECL void	init (int &argc, char **argv, const std::string &name, uint32_t options=0)
	ROS initialization function. More...

ROSCPP_DECL void	initInternalTimerManager ()

ROSCPP_DECL bool	isInitialized ()
	Returns whether or not ros::init() has been called. More...

ROSCPP_DECL bool	isShuttingDown ()
	Returns whether or not ros::shutdown() has been (or is being) called. More...

ROSCPP_DECL bool	isStarted ()
	Returns whether or not the node has been started through ros::start() More...

ROSCPP_DECL int	last_socket_error ()

ROSCPP_DECL bool	last_socket_error_is_would_block ()

const ROSCPP_DECL char *	last_socket_error_string ()

void	normalizeSecNSec (uint32_t &sec, uint32_t &nsec)

void	normalizeSecNSec (uint64_t &sec, uint64_t &nsec)

ROSTIME_DECL void	normalizeSecNSecSigned (int32_t &sec, int32_t &nsec)

ROSTIME_DECL void	normalizeSecNSecSigned (int64_t &sec, int64_t &nsec)

void	normalizeSecNSecUnsigned (int64_t &sec, int64_t &nsec)

ROSCPP_DECL bool	ok ()
	Check whether it's time to exit. More...

std::ostream &	operator<< (std::ostream &os, const Duration &rhs)

std::ostream &	operator<< (std::ostream &os, const Time &rhs)

std::ostream &	operator<< (std::ostream &os, const WallDuration &rhs)

std::ostream &	operator<< (std::ostream &os, const WallTime &rhs)

ROSCPP_DECL int	poll_sockets (socket_pollfd *fds, nfds_t nfds, int timeout)

ssize_t	read_signal (const signal_fd_t &signal, void *buffer, const size_t &nbyte)

ROSCPP_DECL void	removeROSArgs (int argc, const char const argv, V_string &args_out)
	returns a vector of program arguments that do not include any ROS remapping arguments. Useful if you need to parse your arguments to determine your node name More...

ROSCPP_DECL void	requestShutdown ()
	Request that the node shut itself down from within a ROS thread. More...

int	ros_nanosleep (const uint32_t &sec, const uint32_t &nsec)
	Simple representation of the rt library nanosleep function. More...

void	ros_steadytime (uint32_t &sec, uint32_t &nsec)

bool	ros_wallsleep (uint32_t sec, uint32_t nsec)
	Go to the wall! More...

void	ros_walltime (uint32_t &sec, uint32_t &nsec)

ROSCPP_DECL int	set_non_blocking (socket_fd_t &socket)

ROSCPP_DECL void	shutdown ()
	Disconnects everything and unregisters from the master. It is generally not necessary to call this function, as the node will automatically shutdown when all NodeHandles destruct. However, if you want to break out of a spin() loop explicitly, this function allows that. More...

ROSCPP_DECL void	spin ()
	Enter simple event loop. More...

ROSCPP_DECL void	spin (Spinner &spinner)
	Enter simple event loop. More...

ROSCPP_DECL void	spinOnce ()
	Process a single round of callbacks. More...

ROSCPP_DECL void	start ()
	Actually starts the internals of the node (spins up threads, starts the network polling and xmlrpc loops, connects to internal subscriptions like /clock, starts internal service servers, etc.). More...

const Time	TIME_MAX (std::numeric_limits< uint32_t >::max(), 999999999)

ROSCPP_DECL void	waitForShutdown ()
	Wait for this node to be shutdown, whether through Ctrl-C, ros::shutdown(), or similar. More...

ssize_t	write_signal (const signal_fd_t &signal, const void *buffer, const size_t &nbyte)

Variables
const ROSTIME_DECL Duration	DURATION_MAX

const ROSTIME_DECL Duration	DURATION_MIN

static Time	g_sim_time (0, 0)

static std::mutex	g_sim_time_mutex

XMLRPCManagerPtr	g_xmlrpc_manager

std::mutex	g_xmlrpc_manager_mutex

const ROSTIME_DECL Time	TIME_MAX

const Time	TIME_MIN (0, 1)

Typedef Documentation

◆ AsyncSpinnerImplPtr

typedef std::shared_ptr<AsyncSpinnerImpl> roswrap::AsyncSpinnerImplPtr

Definition at line 83 of file spinner.h.

◆ ASyncXMLRPCConnectionPtr

typedef std::shared_ptr<ASyncXMLRPCConnection> roswrap::ASyncXMLRPCConnectionPtr

Definition at line 71 of file xmlrpc_manager.h.

◆ CallbackInterfacePtr

typedef std::shared_ptr< CallbackInterface > roswrap::CallbackInterfacePtr

Definition at line 75 of file callback_queue_interface.h.

◆ CallbackQueuePtr

typedef std::shared_ptr<CallbackQueue> roswrap::CallbackQueuePtr

Definition at line 186 of file callback_queue.h.

◆ ConnectionManagerPtr

typedef std::shared_ptr< ConnectionManager > roswrap::ConnectionManagerPtr

Definition at line 42 of file connection_manager.h.

◆ ConnectionPtr

typedef std::shared_ptr< Connection > roswrap::ConnectionPtr

Definition at line 58 of file connection.h.

◆ HeaderReceivedFunc

typedef std::function<bool(const ConnectionPtr&, const Header&)> roswrap::HeaderReceivedFunc

Definition at line 63 of file connection.h.

◆ InitOption

typedef init_options::InitOption roswrap::InitOption

Definition at line 67 of file init.h.

◆ InternalTimerManager

typedef TimerManager<WallTime, WallDuration, WallTimerEvent> roswrap::InternalTimerManager

Definition at line 39 of file internal_timer_manager.h.

◆ InternalTimerManagerPtr

typedef std::shared_ptr<InternalTimerManager> roswrap::InternalTimerManagerPtr

Definition at line 41 of file internal_timer_manager.h.

◆ IntraProcessPublisherLinkPtr

typedef std::shared_ptr< IntraProcessPublisherLink > roswrap::IntraProcessPublisherLinkPtr

Definition at line 74 of file intraprocess_publisher_link.h.

◆ IntraProcessSubscriberLinkPtr

typedef std::shared_ptr< IntraProcessSubscriberLink > roswrap::IntraProcessSubscriberLinkPtr

Definition at line 43 of file intraprocess_publisher_link.h.

◆ L_ServicePublication

typedef std::list<ServicePublicationPtr> roswrap::L_ServicePublication

Definition at line 85 of file forwards.h.

◆ L_ServiceServerLink

typedef std::list<ServiceServerLinkPtr> roswrap::L_ServiceServerLink

Definition at line 89 of file forwards.h.

◆ L_Subscription

typedef std::list<SubscriptionPtr> roswrap::L_Subscription

Definition at line 77 of file forwards.h.

◆ M_string

typedef std::map< std::string, std::string > roswrap::M_string

Definition at line 46 of file datatypes.h.

◆ M_stringPtr

typedef std::shared_ptr<M_string> roswrap::M_stringPtr

Definition at line 49 of file datatypes.h.

◆ MessageDeserializerPtr

typedef std::shared_ptr< MessageDeserializer > roswrap::MessageDeserializerPtr

Definition at line 62 of file message_deserializer.h.

◆ NodeHandlePtr

typedef std::shared_ptr<NodeHandle> roswrap::NodeHandlePtr

Definition at line 92 of file forwards.h.

◆ PollManagerPtr

typedef std::shared_ptr< PollManager > roswrap::PollManagerPtr

Definition at line 39 of file connection_manager.h.

◆ PublicationPtr

typedef std::shared_ptr< Publication > roswrap::PublicationPtr

Definition at line 68 of file forwards.h.

◆ PublicationWPtr

typedef std::weak_ptr< Publication > roswrap::PublicationWPtr

Definition at line 57 of file rosout_appender.h.

◆ PublisherLinkPtr

typedef std::shared_ptr< PublisherLink > roswrap::PublisherLinkPtr

Definition at line 80 of file forwards.h.

◆ ReadFinishedFunc

typedef std::function<void(const ConnectionPtr&, const boost::shared_array<uint8_t>&, uint32_t, bool)> roswrap::ReadFinishedFunc

Definition at line 60 of file connection.h.

◆ S_ASyncXMLRPCConnection

typedef std::set<ASyncXMLRPCConnectionPtr> roswrap::S_ASyncXMLRPCConnection

Definition at line 72 of file xmlrpc_manager.h.

◆ S_Connection

typedef std::set<ConnectionPtr> roswrap::S_Connection

Definition at line 66 of file forwards.h.

◆ S_string

typedef std::set<std::string> roswrap::S_string

Definition at line 45 of file datatypes.h.

◆ S_Subscription

typedef std::set<SubscriptionPtr> roswrap::S_Subscription

Definition at line 79 of file forwards.h.

◆ ServiceCallbackHelperPtr

typedef std::shared_ptr<ServiceCallbackHelper> roswrap::ServiceCallbackHelperPtr

Definition at line 141 of file service_callback_helper.h.

◆ ServiceClientLinkPtr

typedef std::shared_ptr< ServiceClientLink > roswrap::ServiceClientLinkPtr

Definition at line 85 of file service_client_link.h.

◆ ServiceClientPtr

typedef std::shared_ptr<ServiceClient> roswrap::ServiceClientPtr

Definition at line 212 of file service_client.h.

◆ ServiceManagerPtr

typedef std::shared_ptr< ServiceManager > roswrap::ServiceManagerPtr

Definition at line 166 of file forwards.h.

◆ ServicePublicationPtr

typedef std::shared_ptr< ServicePublication > roswrap::ServicePublicationPtr

Definition at line 83 of file forwards.h.

◆ ServicePublicationWPtr

typedef std::weak_ptr<ServicePublication> roswrap::ServicePublicationWPtr

Definition at line 44 of file service_client_link.h.

◆ ServiceServerLinkPtr

typedef std::shared_ptr< ServiceServerLink > roswrap::ServiceServerLinkPtr

Definition at line 87 of file forwards.h.

◆ signal_fd_t

typedef int roswrap::signal_fd_t

Definition at line 140 of file io.h.

◆ socket_fd_t

typedef int roswrap::socket_fd_t

Definition at line 139 of file io.h.

◆ socket_pollfd

typedef struct pollfd roswrap::socket_pollfd

Definition at line 141 of file io.h.

◆ StringPair

typedef std::pair<std::string, std::string> roswrap::StringPair

Definition at line 47 of file datatypes.h.

◆ SubscriberCallbacksPtr

typedef std::shared_ptr<SubscriberCallbacks> roswrap::SubscriberCallbacksPtr

Definition at line 128 of file forwards.h.

◆ SubscriberLinkPtr

typedef std::shared_ptr< SubscriberLink > roswrap::SubscriberLinkPtr

Definition at line 71 of file forwards.h.

◆ SubscriberStatusCallback

typedef std::function<void(const SingleSubscriberPublisher&)> roswrap::SubscriberStatusCallback

Definition at line 96 of file forwards.h.

◆ SubscriptionCallbackHelperPtr

typedef std::shared_ptr< SubscriptionCallbackHelper > roswrap::SubscriptionCallbackHelperPtr

Definition at line 43 of file message_deserializer.h.

◆ SubscriptionCallbackPtr

typedef std::shared_ptr<SubscriptionCallback> roswrap::SubscriptionCallbackPtr

Definition at line 51 of file subscription.h.

◆ SubscriptionPtr

typedef std::shared_ptr< Subscription > roswrap::SubscriptionPtr

Definition at line 74 of file forwards.h.

◆ SubscriptionQueuePtr

typedef std::shared_ptr<SubscriptionQueue> roswrap::SubscriptionQueuePtr

Definition at line 54 of file subscription.h.

◆ SubscriptionWPtr

typedef std::weak_ptr< Subscription > roswrap::SubscriptionWPtr

Definition at line 76 of file forwards.h.

◆ TimerCallback

typedef std::function<void(const TimerEvent&)> roswrap::TimerCallback

Definition at line 146 of file forwards.h.

◆ TopicManagerPtr

typedef std::shared_ptr< TopicManager > roswrap::TopicManagerPtr

Definition at line 168 of file forwards.h.

◆ TransportPtr

typedef std::shared_ptr< Transport > roswrap::TransportPtr

Definition at line 56 of file connection.h.

◆ TransportPublisherLinkPtr

typedef std::shared_ptr<TransportPublisherLink> roswrap::TransportPublisherLinkPtr

Definition at line 90 of file transport_publisher_link.h.

◆ TransportSubscriberLinkPtr

typedef std::shared_ptr<TransportSubscriberLink> roswrap::TransportSubscriberLinkPtr

Definition at line 76 of file transport_subscriber_link.h.

◆ TransportTCPPtr

typedef std::shared_ptr< TransportTCP > roswrap::TransportTCPPtr

Definition at line 60 of file forwards.h.

◆ TransportUDPHeader

typedef struct roswrap::TransportUDPHeader roswrap::TransportUDPHeader

◆ TransportUDPPtr

typedef std::shared_ptr< TransportUDP > roswrap::TransportUDPPtr

Definition at line 62 of file forwards.h.

◆ V_Connection

typedef std::vector<ConnectionPtr> roswrap::V_Connection

Definition at line 67 of file forwards.h.

◆ V_Publication

typedef std::vector<PublicationPtr> roswrap::V_Publication

Definition at line 70 of file forwards.h.

◆ V_Publisher

typedef std::vector<Publisher> roswrap::V_Publisher

Definition at line 203 of file ros/publisher.h.

◆ V_PublisherLink

typedef std::vector<PublisherLinkPtr> roswrap::V_PublisherLink

Definition at line 82 of file forwards.h.

◆ V_ServiceClientLink

typedef std::vector<ServiceClientLinkPtr> roswrap::V_ServiceClientLink

Definition at line 51 of file service_publication.h.

◆ V_ServicePublication

typedef std::vector<ServicePublicationPtr> roswrap::V_ServicePublication

Definition at line 86 of file forwards.h.

◆ V_ServiceServer

typedef std::vector<ServiceServer> roswrap::V_ServiceServer

Definition at line 107 of file service_server.h.

◆ V_string

typedef std::vector<std::string> roswrap::V_string

Definition at line 44 of file datatypes.h.

◆ V_Subscriber

typedef std::vector<Subscriber> roswrap::V_Subscriber

Definition at line 116 of file subscriber.h.

◆ V_SubscriberLink

typedef std::vector< SubscriberLinkPtr > roswrap::V_SubscriberLink

Definition at line 73 of file forwards.h.

◆ V_Subscription

typedef std::vector<SubscriptionPtr> roswrap::V_Subscription

Definition at line 78 of file forwards.h.

◆ VoidConstPtr

typedef std::shared_ptr<void const> roswrap::VoidConstPtr

Definition at line 54 of file forwards.h.

◆ VoidConstWPtr

typedef std::weak_ptr<void const> roswrap::VoidConstWPtr

Definition at line 55 of file forwards.h.

◆ VoidFunc

typedef std::function<void(void)> roswrap::VoidFunc

Definition at line 47 of file poll_manager.h.

◆ VoidPtr

typedef std::shared_ptr<void> roswrap::VoidPtr

Definition at line 52 of file forwards.h.

◆ VoidSignal

typedef boost::signals2::signal<void(void)> roswrap::VoidSignal

Definition at line 46 of file poll_manager.h.

◆ VoidWPtr

typedef std::weak_ptr<void> roswrap::VoidWPtr

Definition at line 53 of file forwards.h.

◆ VP_string

typedef std::vector<std::pair<std::string, std::string> > roswrap::VP_string

Definition at line 43 of file datatypes.h.

◆ WallTimerCallback

typedef std::function<void(const WallTimerEvent&)> roswrap::WallTimerCallback

Definition at line 164 of file forwards.h.

◆ WriteFinishedFunc

typedef std::function<void(const ConnectionPtr&)> roswrap::WriteFinishedFunc

Definition at line 61 of file connection.h.

◆ XMLRPCCallWrapperPtr

typedef std::shared_ptr<XMLRPCCallWrapper> roswrap::XMLRPCCallWrapperPtr

Definition at line 58 of file xmlrpc_manager.h.

◆ XMLRPCFunc

typedef std::function<void(XmlRpc::XmlRpcValue&, XmlRpc::XmlRpcValue&)> roswrap::XMLRPCFunc

Definition at line 93 of file xmlrpc_manager.h.

◆ XMLRPCManagerPtr

typedef std::shared_ptr< XMLRPCManager > roswrap::XMLRPCManagerPtr

Definition at line 172 of file forwards.h.

Function Documentation

◆ close_signal_pair()

void roswrap::close_signal_pair ( signal_fd_t signal_pair[2] )

inline

Closes the signal pair - on windows we're using sockets (because windows select() function cant handle pipes). On linux, we're just using the pipes.

Parameters

signal_pair : the signal pair type.

Definition at line 165 of file io.h.

◆ close_socket()

ROSCPP_DECL int roswrap::close_socket ( socket_fd_t & socket )

◆ create_signal_pair()

ROSCPP_DECL int roswrap::create_signal_pair ( signal_fd_t signal_pair[2] )

◆ defaultMessageCreateFunction()

template<typename M >

ROS_DEPRECATED std::shared_ptr<M> roswrap::defaultMessageCreateFunction ( )

inline

Definition at line 59 of file message_event.h.

◆ defaultServiceCreateFunction()

template<typename M >

std::shared_ptr<M> roswrap::defaultServiceCreateFunction ( )

inline

Definition at line 52 of file service_callback_helper.h.

◆ disableAllSignalsInThisThread()

void roswrap::disableAllSignalsInThisThread ( )

◆ DURATION_MAX()

const Duration roswrap::DURATION_MAX	(	std::numeric_limits< int32_t >	::max(),
		999999999
	)

◆ DURATION_MIN()

const Duration roswrap::DURATION_MIN	(	std::numeric_limits< int32_t >	::min(),
		0
	)

◆ g_initialized()

static bool roswrap::g_initialized ( true )

static

◆ g_stopped()

static bool roswrap::g_stopped ( false )

static

◆ g_use_sim_time()

static bool roswrap::g_use_sim_time ( true )

static

◆ get_environment_variable()

bool roswrap::get_environment_variable	(	std::string &	str,
		const char *	environment_variable
	)

inline

Convenient cross platform function for returning a std::string of an environment variable.

Definition at line 70 of file platform.h.

◆ getGlobalCallbackQueue()

ROSCPP_DECL CallbackQueue* roswrap::getGlobalCallbackQueue ( )

Returns a pointer to the global default callback queue.

This is the queue that all callbacks get added to unless a different one is specified, either in the NodeHandle or in the individual NodeHandle::subscribe()/NodeHandle::advertise()/etc. functions.

◆ getInternalTimerManager()

ROSCPP_DECL InternalTimerManagerPtr roswrap::getInternalTimerManager ( )

◆ getPid()

void roswrap::getPid	(	const XmlRpcValue &	params,
		XmlRpcValue &	result
	)

Definition at line 90 of file xmlrpc_manager.cpp.

◆ getROSArg()

ROSCPP_DECL std::string roswrap::getROSArg	(	int	argc,
		const char const	argv,
		const std::string &	arg
	)

searches the command line arguments for the given arg parameter. In case this argument is not found an empty string is returned.

Parameters

argc	the number of command-line arguments
argv	the command-line arguments
arg	argument to search for

◆ init() [1/3]

ROSCPP_DECL void roswrap::init	(	const M_string &	remappings,
		const std::string &	name,
		uint32_t	options = `0`
	)

alternate ROS initialization function.

Parameters

remappings	A map<string, string> where each one constitutes a name remapping, or one of the special remappings like __name, __master, __ns, etc.
name	Name of this node. The name must be a base name, ie. it cannot contain namespaces.
options	[optional] Options to start the node with (a set of bit flags from ros::init_options)

Exceptions

InvalidNodeNameException If the name passed in is not a valid "base" name

◆ init() [2/3]

ROSCPP_DECL void roswrap::init	(	const VP_string &	remapping_args,
		const std::string &	name,
		uint32_t	options = `0`
	)

alternate ROS initialization function.

Parameters

remappings	A vector<pair<string, string> > where each one constitutes a name remapping, or one of the special remappings like __name, __master, __ns, etc.
name	Name of this node. The name must be a base name, ie. it cannot contain namespaces.
options	[optional] Options to start the node with (a set of bit flags from ros::init_options)

Exceptions

InvalidNodeNameException If the name passed in is not a valid "base" name

◆ init() [3/3]

ROSCPP_DECL void roswrap::init	(	int &	argc,
		char **	argv,
		const std::string &	name,
		uint32_t	options = `0`
	)

ROS initialization function.

This function will parse any ROS arguments (e.g., topic name remappings), and will consume them (i.e., argc and argv may be modified as a result of this call).

Use this version if you are using the NodeHandle API

Parameters

argc
argv
name	Name of this node. The name must be a base name, ie. it cannot contain namespaces.
options	[optional] Options to start the node with (a set of bit flags from ros::init_options)

Exceptions

InvalidNodeNameException If the name passed in is not a valid "base" name

◆ initInternalTimerManager()

ROSCPP_DECL void roswrap::initInternalTimerManager ( )

◆ isInitialized()

ROSCPP_DECL bool roswrap::isInitialized ( )

Returns whether or not ros::init() has been called.

◆ isShuttingDown()

ROSCPP_DECL bool roswrap::isShuttingDown ( )

Returns whether or not ros::shutdown() has been (or is being) called.

Definition at line 277 of file rossimu.cpp.

◆ isStarted()

ROSCPP_DECL bool roswrap::isStarted ( )

Returns whether or not the node has been started through ros::start()

◆ last_socket_error()

ROSCPP_DECL int roswrap::last_socket_error ( )

◆ last_socket_error_is_would_block()

ROSCPP_DECL bool roswrap::last_socket_error_is_would_block ( )

◆ last_socket_error_string()

const ROSCPP_DECL char* roswrap::last_socket_error_string ( )

◆ normalizeSecNSec() [1/2]

ROSTIME_DECL void roswrap::normalizeSecNSec	(	uint32_t &	sec,
		uint32_t &	nsec
	)

Definition at line 583 of file time_modi.cpp.

◆ normalizeSecNSec() [2/2]

ROSTIME_DECL void roswrap::normalizeSecNSec	(	uint64_t &	sec,
		uint64_t &	nsec
	)

Definition at line 571 of file time_modi.cpp.

◆ normalizeSecNSecSigned() [1/2]

void roswrap::normalizeSecNSecSigned	(	int32_t &	sec,
		int32_t &	nsec
	)

Definition at line 96 of file duration.cpp.

◆ normalizeSecNSecSigned() [2/2]

void roswrap::normalizeSecNSecSigned	(	int64_t &	sec,
		int64_t &	nsec
	)

Definition at line 79 of file duration.cpp.

◆ normalizeSecNSecUnsigned()

ROSTIME_DECL void roswrap::normalizeSecNSecUnsigned	(	int64_t &	sec,
		int64_t &	nsec
	)

Definition at line 594 of file time_modi.cpp.

◆ ok()

ROSCPP_DECL bool roswrap::ok ( )

Check whether it's time to exit.

ok() becomes false once ros::shutdown() has been called and is finished

Returns: true if we're still OK, false if it's time to exit

Definition at line 273 of file rossimu.cpp.

◆ operator<<() [1/4]

std::ostream & roswrap::operator<<	(	std::ostream &	os,
		const Duration &	rhs
	)

Definition at line 403 of file time_modi.cpp.

◆ operator<<() [2/4]

ROSTIME_DECL std::ostream & roswrap::operator<<	(	std::ostream &	os,
		const Time &	rhs
	)

Definition at line 394 of file time_modi.cpp.

◆ operator<<() [3/4]

std::ostream & roswrap::operator<<	(	std::ostream &	os,
		const WallDuration &	rhs
	)

Definition at line 550 of file time_modi.cpp.

◆ operator<<() [4/4]

ROSTIME_DECL std::ostream & roswrap::operator<<	(	std::ostream &	os,
		const WallTime &	rhs
	)

Definition at line 517 of file time_modi.cpp.

◆ poll_sockets()

ROSCPP_DECL int roswrap::poll_sockets	(	socket_pollfd *	fds,
		nfds_t	nfds,
		int	timeout
	)

◆ read_signal()

ssize_t roswrap::read_signal	(	const signal_fd_t &	signal,
		void *	buffer,
		const size_t &	nbyte
	)

inline

Read from a signal_fd_t device. On windows we're using sockets (because windows select() function cant handle pipes) so we have to use socket functions. On linux, we're just using the pipes.

Definition at line 203 of file io.h.

◆ removeROSArgs()

ROSCPP_DECL void roswrap::removeROSArgs	(	int	argc,
		const char const	argv,
		V_string &	args_out
	)

returns a vector of program arguments that do not include any ROS remapping arguments. Useful if you need to parse your arguments to determine your node name

Parameters

	argc	the number of command-line arguments
	argv	the command-line arguments
[out]	args_out	Output args, stripped of any ROS args

◆ requestShutdown()

ROSCPP_DECL void roswrap::requestShutdown ( )

Request that the node shut itself down from within a ROS thread.

This method signals a ROS thread to call shutdown().

◆ ros_nanosleep()

int roswrap::ros_nanosleep	(	const uint32_t &	sec,
		const uint32_t &	nsec
	)

Simple representation of the rt library nanosleep function.

Definition at line 233 of file time_modi.cpp.

◆ ros_steadytime()

void roswrap::ros_steadytime	(	uint32_t &	sec,
		uint32_t &	nsec
	)

Definition at line 187 of file time_modi.cpp.

◆ ros_wallsleep()

bool roswrap::ros_wallsleep	(	uint32_t	sec,
		uint32_t	nsec
	)

Go to the wall!

Todo:: Fully implement the win32 parts, currently just like a regular sleep.

Definition at line 269 of file time_modi.cpp.

◆ ros_walltime()

void roswrap::ros_walltime	(	uint32_t &	sec,
		uint32_t &	nsec
	)

Definition at line 108 of file time_modi.cpp.

◆ set_non_blocking()

ROSCPP_DECL int roswrap::set_non_blocking ( socket_fd_t & socket )

◆ shutdown()

ROSCPP_DECL void roswrap::shutdown ( )

Disconnects everything and unregisters from the master. It is generally not necessary to call this function, as the node will automatically shutdown when all NodeHandles destruct. However, if you want to break out of a spin() loop explicitly, this function allows that.

Definition at line 269 of file rossimu.cpp.

◆ spin() [1/2]

ROSCPP_DECL void roswrap::spin ( )

Enter simple event loop.

This method enters a loop, processing callbacks. This method should only be used if the NodeHandle API is being used.

This method is mostly useful when your node does all of its work in subscription callbacks. It will not process any callbacks that have been assigned to custom queues.

Definition at line 260 of file rossimu.cpp.

◆ spin() [2/2]

ROSCPP_DECL void roswrap::spin ( Spinner & spinner )

Enter simple event loop.

This method enters a loop, processing callbacks. This method should only be used if the NodeHandle API is being used.

This method is mostly useful when your node does all of its work in subscription callbacks. It will not process any callbacks that have been assigned to custom queues.

Parameters

spinner a spinner to use to call callbacks. Two default implementations are available, SingleThreadedSpinner and MultiThreadedSpinner

◆ spinOnce()

ROSCPP_DECL void roswrap::spinOnce ( )

Process a single round of callbacks.

This method is useful if you have your own loop running and would like to process any callbacks that are available. This is equivalent to calling callAvailable() on the global CallbackQueue. It will not process any callbacks that have been assigned to custom queues.

Definition at line 255 of file rossimu.cpp.

◆ start()

ROSCPP_DECL void roswrap::start ( )

Actually starts the internals of the node (spins up threads, starts the network polling and xmlrpc loops, connects to internal subscriptions like /clock, starts internal service servers, etc.).

Usually unnecessary to call manually, as it is automatically called by the creation of the first NodeHandle if the node has not already been started. If you would like to prevent the automatic shutdown caused by the last NodeHandle going out of scope, call this before any NodeHandle has been created (e.g. immediately after init())

◆ TIME_MAX()

const Time roswrap::TIME_MAX	(	std::numeric_limits< uint32_t >	::max(),
		999999999
	)

◆ waitForShutdown()

ROSCPP_DECL void roswrap::waitForShutdown ( )

Wait for this node to be shutdown, whether through Ctrl-C, ros::shutdown(), or similar.

◆ write_signal()

ssize_t roswrap::write_signal	(	const signal_fd_t &	signal,
		const void *	buffer,
		const size_t &	nbyte
	)

inline

Write to a signal_fd_t device. On windows we're using sockets (because windows select() function cant handle pipes) so we have to use socket functions. On linux, we're just using the pipes.

Definition at line 186 of file io.h.

Variable Documentation

◆ DURATION_MAX

const ROSTIME_DECL Duration roswrap::DURATION_MAX

◆ DURATION_MIN

const ROSTIME_DECL Duration roswrap::DURATION_MIN

◆ g_sim_time

Time roswrap::g_sim_time(0, 0)

static

◆ g_sim_time_mutex

std::mutex roswrap::g_sim_time_mutex

static

Definition at line 95 of file time_modi.cpp.

◆ g_xmlrpc_manager

XMLRPCManagerPtr roswrap::g_xmlrpc_manager

Definition at line 98 of file xmlrpc_manager.cpp.

◆ g_xmlrpc_manager_mutex

std::mutex roswrap::g_xmlrpc_manager_mutex

Definition at line 99 of file xmlrpc_manager.cpp.

◆ TIME_MAX

const ROSTIME_DECL Time roswrap::TIME_MAX

◆ TIME_MIN

const ROSTIME_DECL Time roswrap::TIME_MIN

Definition at line 226 of file time.h.

Namespaces

Classes

Typedefs

Functions

Variables

Typedef Documentation

◆ AsyncSpinnerImplPtr

◆ ASyncXMLRPCConnectionPtr

◆ CallbackInterfacePtr

◆ CallbackQueuePtr

◆ ConnectionManagerPtr

◆ ConnectionPtr

◆ HeaderReceivedFunc

◆ InitOption

◆ InternalTimerManager

◆ InternalTimerManagerPtr

◆ IntraProcessPublisherLinkPtr

◆ IntraProcessSubscriberLinkPtr

◆ L_ServicePublication

◆ L_ServiceServerLink

◆ L_Subscription

◆ M_string

◆ M_stringPtr

◆ MessageDeserializerPtr

◆ NodeHandlePtr

◆ PollManagerPtr

◆ PublicationPtr

◆ PublicationWPtr

◆ PublisherLinkPtr

◆ ReadFinishedFunc

◆ S_ASyncXMLRPCConnection

◆ S_Connection

◆ S_string

◆ S_Subscription

◆ ServiceCallbackHelperPtr

◆ ServiceClientLinkPtr

◆ ServiceClientPtr

◆ ServiceManagerPtr

◆ ServicePublicationPtr

◆ ServicePublicationWPtr

◆ ServiceServerLinkPtr

◆ signal_fd_t

◆ socket_fd_t

◆ socket_pollfd

◆ StringPair

◆ SubscriberCallbacksPtr

◆ SubscriberLinkPtr

◆ SubscriberStatusCallback

◆ SubscriptionCallbackHelperPtr

◆ SubscriptionCallbackPtr

◆ SubscriptionPtr

◆ SubscriptionQueuePtr

◆ SubscriptionWPtr

◆ TimerCallback

◆ TopicManagerPtr

◆ TransportPtr

◆ TransportPublisherLinkPtr

◆ TransportSubscriberLinkPtr

◆ TransportTCPPtr

◆ TransportUDPHeader

◆ TransportUDPPtr

◆ V_Connection

◆ V_Publication

◆ V_Publisher

◆ V_PublisherLink

◆ V_ServiceClientLink

◆ V_ServicePublication

◆ V_ServiceServer

◆ V_string

◆ V_Subscriber

◆ V_SubscriberLink

◆ V_Subscription

◆ VoidConstPtr

◆ VoidConstWPtr

◆ VoidFunc

◆ VoidPtr

◆ VoidSignal

◆ VoidWPtr

◆ VP_string

◆ WallTimerCallback