gazebo::transport::Node Class Reference

A node can advertise and subscribe topics, publish on advertised topics and listen to subscribed topics. More...

#include <transport/transport.hh>

Inheritance diagram for gazebo::transport::Node:

Public Member Functions
	Node ()
	Constructor.
virtual	~Node ()
	Destructor.
template<typename M >
transport::PublisherPtr	Advertise (const std::string &_topic, unsigned int _queueLimit=1000, bool _latch=false)
	Adverise a topic.
std::string	DecodeTopicName (const std::string &_topic)
	Decode a topic name.
std::string	EncodeTopicName (const std::string &_topic)
	Encode a topic name.
void	Fini ()
	Finalize the node.
unsigned int	GetId () const
	Get the unique ID of the node.
std::string	GetMsgType (const std::string &_topic) const
	Get the message type for a topic.
std::string	GetTopicNamespace () const
	Get the topic namespace for this node.
bool	HandleData (const std::string &_topic, const std::string &_msg)
	Handle incoming data.
void	Init (const std::string &_space="")
	Init the node.
void	InsertLatchedMsg (const std::string &_topic, const std::string &_msg)
	Add a latched message to the node for publication.
void	ProcessIncoming ()
	Process incoming messages.
void	ProcessPublishers ()
	Process all publishers, which has each publisher send it's most recent message over the wire.
template<typename M , typename T >
SubscriberPtr	Subscribe (const std::string &_topic, void(T::*_fp)(const M const *&), T *_obj, bool _latching=false)
	Subscribe to a topic using a class method as the callback.
template<typename M >
SubscriberPtr	Subscribe (const std::string &_topic, void(*_fp)(const M const *&), bool _latching=false)
	Subscribe to a topic using a bare function as the callback.

Detailed Description

A node can advertise and subscribe topics, publish on advertised topics and listen to subscribed topics.

Constructor & Destructor Documentation

gazebo::transport::Node::Node

(

)

Constructor.

virtual gazebo::transport::Node::~Node ( )

virtual

Destructor.

Member Function Documentation

template<typename M >

transport::PublisherPtr gazebo::transport::Node::Advertise ( const std::string &  _topic, unsigned int  _queueLimit = 1000, bool  _latch = false  )

inline

Adverise a topic.

Parameters

[in]	_topic	The topic to advertise
[in]	_queueLimit	The maximum number of outgoing messages to queue for delivery
[in]	_latch	If true, latch the last message; otherwise, don't latch

Returns

Pointer to new publisher object

References DecodeTopicName(), and SingletonT< T >::Instance().

std::string gazebo::transport::Node::DecodeTopicName

(

const std::string &

_topic

)

Decode a topic name.

Parameters

[in]

The

encoded name

Returns

The decoded name

Referenced by Advertise(), and Subscribe().

std::string gazebo::transport::Node::EncodeTopicName

(

const std::string &

_topic

)

Encode a topic name.

Parameters

[in]

The

decoded name

Returns

The encoded name

void gazebo::transport::Node::Fini

(

)

Finalize the node.

unsigned int gazebo::transport::Node::GetId

(

)

const

Get the unique ID of the node.

Returns

The unique ID of the node

std::string gazebo::transport::Node::GetMsgType

(

const std::string &

_topic

)

const

Get the message type for a topic.

Parameters

[in]

_topic

The topic

Returns

The message type

std::string gazebo::transport::Node::GetTopicNamespace

(

)

const

Get the topic namespace for this node.

Returns

The namespace

bool gazebo::transport::Node::HandleData	(	const std::string &	_topic,
		const std::string &	_msg
	)

Handle incoming data.

Parameters

[in]	_topic	Topic for which the data was received
[in]	_msg	The message that was received

Returns

true if the message was handled successfully, false otherwise

void gazebo::transport::Node::Init

(

const std::string &

_space = ""

)

Init the node.

Parameters

[in]

_space

Set the global namespace of all topics. If left blank, the topic will initialize to the first namespace on the Master

void gazebo::transport::Node::InsertLatchedMsg	(	const std::string &	_topic,
		const std::string &	_msg
	)

Add a latched message to the node for publication.

This is called when a subscription is connected to a publication.

Parameters

[in]	_topic	Name of the topic to publish data on.
[in]	_msg	The message to publish.

void gazebo::transport::Node::ProcessIncoming

(

)

Process incoming messages.

void gazebo::transport::Node::ProcessPublishers

(

)

Process all publishers, which has each publisher send it's most recent message over the wire.

This is for internal use only

template<typename M , typename T >

SubscriberPtr gazebo::transport::Node::Subscribe ( const std::string &  _topic, void(T::*)(const M const *&)  _fp, T *  _obj, bool  _latching = false  )

inline

Subscribe to a topic using a class method as the callback.

Parameters

[in]	_topic	The topic to subscribe to
[in]	_fp	Class method to be called on receipt of new message
[in]	_obj	Class instance to be used on receipt of new message
[in]	_latching	If true, latch latest incoming message; otherwise don't latch

Returns

Pointer to new Subscriber object

References DecodeTopicName(), and SingletonT< T >::Instance().

template<typename M >

SubscriberPtr gazebo::transport::Node::Subscribe ( const std::string &  _topic, void(*)(const M const *&)  _fp, bool  _latching = false  )

inline

Subscribe to a topic using a bare function as the callback.

Parameters

[in]	_topic	The topic to subscribe to
[in]	_fp	Function to be called on receipt of new message
[in]	_latching	If true, latch latest incoming message; otherwise don't latch

Returns

Pointer to new Subscriber object

References DecodeTopicName(), and SingletonT< T >::Instance().

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

• Node.hh