MipBaselib::ROSiFace< msg_type, msg_type_ptr > Class Template Reference
[ROS interface]

A simple class to handle Publisher and Subscriber on a topic. More...

#include <ROSiFace.h>

Inheritance diagram for MipBaselib::ROSiFace< msg_type, msg_type_ptr >:

List of all members.

Public Member Functions
	ROSiFace (const string &topicName, ros::NodeHandle *_node, ROSiFaceOpeningModes op, int queue=1, int bufferDim=1)
	Complete constructor.
	~ROSiFace ()
	Destructor.
bool	sendMessage (const msg_type &message)
	Send message on topic.
bool	updateMessage ()
	Update message in topic.
bool	getMessage (msg_type &msg)
	Get message from topic.
void	getMsgList (deque< msg_type > &listMsg)
	Get the stored messages in the list.

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Detailed Description

template<class msg_type, typename msg_type_ptr>
class MipBaselib::ROSiFace< msg_type, msg_type_ptr >

A simple class to handle Publisher and Subscriber on a topic.

Author:

Paolo Stegagno This class represents a ROS topic. Given a ROS node, it opens a Publisher, a Subscriber or both on a given topic. Before using this class, you need to initialize ROS and build a node.

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Constructor & Destructor Documentation

template<class msg_type, typename msg_type_ptr>

MipBaselib::ROSiFace< msg_type, msg_type_ptr >::~ROSiFace

(

)

Destructor.

This destructor deletes the ros::Publisher and/or ros::Subscriber.

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Member Function Documentation

template<class msg_type, typename msg_type_ptr>

bool MipBaselib::ROSiFace< msg_type, msg_type_ptr >::sendMessage

(

const msg_type &

message

)

Send message on topic.

Parameters:

[in]

&message

Message to send.

Returns:

true if ros::ok(), false otherwise. If this ROSiFace is ROSIFACE_W or ROSIFACE_RW, this method writes the "message" on the topic. If this ROSiFace is ROSIFACE_R, this method throw an exception and terminate the execution of the program.

template<class msg_type, typename msg_type_ptr>

bool MipBaselib::ROSiFace< msg_type, msg_type_ptr >::updateMessage

(

)

[virtual]

Update message in topic.

Returns:

true if ros::ok(), false otherwise. If this ROSiFace is ROSIFACE_R or ROSIFACE_RW, this method updates the internal buffer with the messages received on the topic. If this ROSiFace is ROSIFACE_W, this method throws an exception and terminate the execution of the program.

Implements MipBaselib::ROSiFaceBoss.

template<class msg_type, typename msg_type_ptr>

bool MipBaselib::ROSiFace< msg_type, msg_type_ptr >::getMessage

(

msg_type &

msg

)

Get message from topic.

Parameters:

[out]

msg

Variable where the message will be stored

Returns:

true if ros::ok(), false otherwise. If this ROSiFace is ROSIFACE_R or ROSIFACE_RW, this method writes in "msg" the last received message on the topic. If this ROSiFace is ROSIFACE_W, this method throw an exception and terminate the execution of the program.

template<class msg_type, typename msg_type_ptr>

void MipBaselib::ROSiFace< msg_type, msg_type_ptr >::getMsgList

(

deque< msg_type > &

listMsg

)

Get the stored messages in the list.

Parameters:

[out]

msg

List where the messages will be stored If this ROSiFace is ROSIFACE_R or ROSIFACE_RW, this method writes in "listMsg" the list of received messages (max dimension is bufferDim). If this ROSiFace is ROSIFACE_W, this method throw an exception and terminate the execution of the program.

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

• baselib/ROS/ROSiFace.h