MipResources::ROSNode Class Reference
[ROSNode]

This resource represents a ROS node and handles all the topics. More...

#include <ROSNode.h>

Inheritance diagram for MipResources::ROSNode:

List of all members.

Public Member Functions
ResourcePlate	getPlate () const
	Gets the plate.
	ROSNode (const string &nodeName)
	Node name constructor.
	ROSNode (int argc, const char *argv[])
	Argc/argv constructor (required by the Scheduler).
	~ROSNode ()
	Destructor.
int	openTopic (const string &topicname, ROSiFaceOpeningModes mode, int queueLength=1, int bufferLength=1, ROSiFaceMessageTypes ty=ROSIFACE_TYPE_STD_STRING)
	Open a topic.
bool	updateTopic (int topicSpecifier)
	Read and update a topic.
bool	getTopicMessage (int topicSpecifier, string &msg)
	Get the message from a topic.
bool	getUpdateTopicMessage (int topicSpecifier, string &msg)
	Update the topic and get the message.
bool	writeTopic (int topicSpecifier, const string &msg)
	Write a topic.
void	getTopicMessages (int topicSpecifier, deque< string > &msg)
	Get the actual list of the stored topic.
void	getUpdateTopicMessages (int topicSpecifier, deque< string > &msg)
	Get and update the actual list of the stored topic.
ros::NodeHandle *	getROSNode ()
	Get the pointer to the topic handle.
int	getOpenTopicsNum () const
	Get the actual number of open topics.
Protected Attributes
ROSNodeOptions	_options

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Detailed Description

This resource represents a ROS node and handles all the topics.

Author:

Paolo Stegagno While allocating this resource, the MIP process becomes a ROS node with name "MIP_{id}", where {id} is the robot id defined in the CommonOptions. This class provides basic ROS functionalities, such as opening a topic, reading and writing on it. It is reccomended that any ROS communication in MIP is implemented through the use of this Resource.

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Constructor & Destructor Documentation

MipResources::ROSNode::ROSNode

(

const string &

nodeName

)

Node name constructor.

Parameters:

[in]

&nodeName

Name of the node. This constructor initializes ROS and create a ros node whose name is "nodeName". In normal operation this constructor is never called.

MipResources::ROSNode::ROSNode	(	int	argc,
		const char *	argv[]
	)

Argc/argv constructor (required by the Scheduler).

Parameters:

[in]

&nodeName

Name of the node. This constructor initializes ROS and create a ros node whose name is MIP_{id}, where {id} is the id of the robot. This is the constructor called in normal operation (i.e.: it is the constructor called by the Scheduler).

MipResources::ROSNode::~ROSNode

(

)

Destructor.

The destructor closes and clears all open topics (hence, all ros::Publisher and ros::Subscriber).

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Member Function Documentation

ResourcePlate MipResources::ROSNode::getPlate

(

)

const [inline, virtual]

Gets the plate.

Implements MipResources::Resource.

int MipResources::ROSNode::openTopic	(	const string &	topicname,
		ROSiFaceOpeningModes	mode,
		int	queueLength = 1,
		int	bufferLength = 1,
		ROSiFaceMessageTypes	ty = ROSIFACE_TYPE_STD_STRING
	)

Open a topic.

Parameters:

[in]	&topicname	Name of the topic you want to open.
[in]	mode	Opening mode of the topic (read, write, read/write).
[in]	queueLength	(optional) Length of the queue of the node. Default length is 1.
[in]	bufferLength	(optional) Length of the queue where storing the messages. Default length is 1.

Returns:

An int representing the number of the used topic. The user must reuse this number to read or write on the specified topic. This method opens a topic allocating a ROSiFace. THe ROSiFace can be allocated as read, write or read/write depending on the value of "mode". The name of the topic must be specified in "topicname", while the queue length is an optional parameter that can be specified in "queueLength", whose default value is 1.
The method returns an integer representing the topic specifier, and is needed to read or write on the topic.

bool MipResources::ROSNode::updateTopic

(

int

topicSpecifier

)

Read and update a topic.

Parameters:

[in]

topicSpecifier

This is the topic specifier number, and is given when the topic is opened. This method reads the topic specified by "topicSpecifier" and updates the internal variable. The method returns true if ros::ok(), false otherwise. If the specified topic was opened as write-only the method throws an exception and terminate the execution of the process.

bool MipResources::ROSNode::getTopicMessage	(	int	topicSpecifier,
		string &	msg
	)

Get the message from a topic.

Parameters:

[in]	topicSpecifier	This is the topic specifier number, and is given when the topic is opened.
[out]	msg	String where store the info This method reads the topic specified by "topicSpecifier" and updates the internal variable. The method returns true if ros::ok(), false otherwise. If the specified topic was opened as write-only the method throws an exception and terminate the execution of the process.

bool MipResources::ROSNode::getUpdateTopicMessage	(	int	topicSpecifier,
		string &	msg
	)

Update the topic and get the message.

Parameters:

[in]	topicSpecifier	This is the topic specifier number, and is given when the topic is opened.
[out]	msg	String where store the info This method reads the topic specified by "topicSpecifier" and updates the internal variable. The method returns true if ros::ok(), false otherwise. If the specified topic was opened as write-only the method throws an exception and terminate the execution of the process.

bool MipResources::ROSNode::writeTopic	(	int	topicSpecifier,
		const string &	msg
	)

Write a topic.

Parameters:

[in]	topicSpecifier	This is the topic specifier number, and is given when the topic is opened.
[in]	&message	If a message is found on the topic, it is stored in this string. This method writes "message" on the topic specified by "topicSpecifier". The method returns true if ros::ok(), false otherwise. If the specified topic was opened as read-only the method throws an exception and terminate the execution of the process.

void MipResources::ROSNode::getTopicMessages	(	int	topicSpecifier,
		deque< string > &	msg
	)

Get the actual list of the stored topic.

Parameters:

[in]	topicSpecifier	This is the topic specifier number, and is given when the topic is opened.
[in]	msg	List where the messages will be stored.

void MipResources::ROSNode::getUpdateTopicMessages	(	int	topicSpecifier,
		deque< string > &	msg
	)

Get and update the actual list of the stored topic.

Parameters:

[in]	topicSpecifier	This is the topic specifier number, and is given when the topic is opened.
[in]	msg	List where the messages will be stored.

ros::NodeHandle * MipResources::ROSNode::getROSNode

(

)

Get the pointer to the topic handle.

Returns:

Pointer to the topic handle

Note:

It is useful for external usage of topic with the same nodeHandle

int MipResources::ROSNode::getOpenTopicsNum

(

)

const

Get the actual number of open topics.

Returns:

Return the actual number of open topics

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Member Data Documentation

ROSNodeOptions MipResources::ROSNode::_options [protected]

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

• resources/ROSNode/ROSNode.h
• resources/ROSNode/ROSNode.cpp