17 #ifndef _GAZEBO_TRANSPORTIFACE_HH_ 18 #define _GAZEBO_TRANSPORTIFACE_HH_ 20 #include <boost/bind.hpp> 45 bool get_master_uri(std::string &_master_host,
unsigned int &_master_port);
56 bool init(
const std::string &_masterHost =
"",
57 unsigned int _masterPort = 0,
58 uint32_t _timeoutIterations = 30);
104 boost::shared_ptr<msgs::Response>
request(
const std::string &_worldName,
105 const std::string &_request,
106 const std::string &_data =
"",
107 const common::Time &_timeout = -1);
118 const std::string &_request,
119 const std::string &_data =
"");
128 const std::string &_data =
"");
138 const google::protobuf::Message &_message)
142 node->Publish<M>(_topic, _message);
boost::shared_ptr< msgs::Response > request(const std::string &_worldName, const std::string &_request, const std::string &_data="", const common::Time &_timeout=-1)
Send a request and receive a response.
Forward declarations for the common classes.
Definition: Animation.hh:26
bool init(const std::string &_masterHost="", unsigned int _masterPort=0, uint32_t _timeoutIterations=30)
Initialize the transport system.
void run()
Run the transport component.
void pause_incoming(bool _pause)
Pause or unpause incoming messages.
void fini()
Cleanup the transport component.
Forward declarations for transport.
boost::shared_ptr< Node > NodePtr
Definition: TransportTypes.hh:57
void stop()
Stop the transport component from running.
void setMinimalComms(bool _enabled)
Set whether minimal comms should be used.
boost::shared_ptr< Connection > ConnectionPtr
Definition: Connection.hh:51
std::string getTopicMsgType(const std::string &_topicName)
Get the message typename that is published on the given topic.
std::map< std::string, std::list< std::string > > getAdvertisedTopics()
Get a list of all the topics and their message types.
bool get_master_uri(std::string &_master_host, unsigned int &_master_port)
Get the hostname and port of the master from the GAZEBO_MASTER_URI environment variable.
A node can advertise and subscribe topics, publish on advertised topics and listen to subscribed topi...
Definition: Node.hh:78
void publish(const std::string &_topic, const google::protobuf::Message &_message)
A convenience function for a one-time publication of a message.
Definition: TransportIface.hh:137
transport::ConnectionPtr connectToMaster()
Create a connection to master.
bool is_stopped()
Is the transport system stopped?
void clear_buffers()
Clear any remaining communication buffers.
bool getMinimalComms()
Get whether minimal comms has been enabled.
bool waitForNamespaces(const gazebo::common::Time &_maxWait)
Blocks while waiting for topic namespaces from the Master.
void requestNoReply(const std::string &_worldName, const std::string &_request, const std::string &_data="")
Send a request and don't wait for a response.
void get_topic_namespaces(std::list< std::string > &_namespaces)
Return all the namespace (world names) on the master.
A Time class, can be used to hold wall- or sim-time.
Definition: Time.hh:44