Template Class LazySubscriber

Inheritance Relationships

Base Type

Class Documentation

template<typename PublisherMsgType, typename CallbackType = const PublisherMsgType&>
class LazySubscriber : public cras::LazySubscriberBase<PublisherMsgType>

Lazy subscriber that subscribes only when a paired publisher has subscribers.

Template Parameters:

PublisherMsgType – Type of the publisher messages.

Public Functions

LazySubscriber(::ros::NodeHandle publisherNh, const ::std::string &publisherTopic, ::ros::NodeHandle subscriberNh, const ::std::string &subscriberTopic, size_t subscriberQueueSize, ::boost::function<void(CallbackType)> subscriberCallback, ::ros::SubscribeOptions subscribeOptions, const ::cras::LogHelperPtr &logHelper = ::std::make_shared<::cras::NodeLogHelper>())

Create the lazy subscriber that subscribes to subscriberTopic when publisherTopic has subscribers.

Parameters:

  • publisherNh – [in] Node handle used for publisher topic.

  • publisherTopic – [in] The topic whose number of subscribers decides whether to connect or not.

  • subscriberNh – [in] Node handle used for subscriber topic.

  • subscriberTopic – [in] The topic to subscribe.

  • subscriberQueueSize – [in] Queue size for the subscriber.

  • subscriberCallback – [in] The callback called by the subscriber when a new message is received.

  • subscribeOptions – [in] Options used when creating the subscriber. Only allow_concurrent_callbacks and transport_hints fields from this object are used.

  • logHelper – [in] Logging helper.

LazySubscriber(::ros::NodeHandle publisherNh, const ::std::string &publisherTopic, ::ros::NodeHandle subscriberNh, const ::std::string &subscriberTopic, size_t subscriberQueueSize, ::boost::function<void(CallbackType)> subscriberCallback, const ::cras::LogHelperPtr &logHelper = ::std::make_shared<::cras::NodeLogHelper>())

Create the lazy subscriber that subscribes to subscriberTopic when publisherTopic has subscribers.

Parameters:

  • publisherNh – [in] Node handle used for publisher topic.

  • publisherTopic – [in] The topic whose number of subscribers decides whether to connect or not.

  • subscriberNh – [in] Node handle used for subscriber topic.

  • subscriberTopic – [in] The topic to subscribe.

  • subscriberQueueSize – [in] Queue size for the subscriber.

  • subscriberCallback – [in] The callback called by the subscriber when a new message is received.

  • logHelper – [in] Logging helper.