ros Namespace Reference

Namespaces

namespace  file_log
 

internal


namespace  init_options
namespace  master
 

Contains functions which allow you to query information about the master.


namespace  message_operations
namespace  message_traits
namespace  names
 

Contains functions which allow you to manipulate ROS names.


namespace  network
 

internal


namespace  param
 

Contains functions which allow you to query the parameter server.


namespace  serialization
namespace  service
 

Contains functions for querying information about and calling a service.


namespace  service_traits
namespace  this_node
 

Contains functions which provide information about this process' ROS node.


namespace  topic
namespace  xmlrpc
 

internal


Classes

struct  AdvertiseOptions
 Encapsulates all options available for creating a Publisher. More...
struct  AdvertiseServiceOptions
 Encapsulates all options available for creating a ServiceServer. More...
class  AsyncSpinner
 AsyncSpinner is a spinner that does not conform to the abstract Spinner interface. Instead, it spins asynchronously when you call start(), and stops when either you call stop(), ros::shutdown() is called, or its destructor is called. More...
class  AsyncSpinnerImpl
class  ASyncXMLRPCConnection
class  CachedXmlRpcClient
class  CallbackInterface
 Abstract interface for items which can be added to a CallbackQueueInterface. More...
class  CallbackQueue
 This is the default implementation of the ros::CallbackQueueInterface. More...
class  CallbackQueueInterface
 Abstract interface for a queue used to handle all callbacks within roscpp. More...
class  ConflictingSubscriptionException
 Thrown when a second (third,...) subscription is attempted with conflicting arguments. More...
class  Connection
 Encapsulates a connection to a remote host, independent of the transport type. More...
class  ConnectionManager
struct  DefaultMessageCreator
class  Header
 Provides functionality to parse a connection header and retrieve values from it. More...
class  IntraProcessPublisherLink
 Handles a connection to a single publisher on a given topic. Receives messages from a publisher and hands them off to its parent Subscription. More...
class  IntraProcessSubscriberLink
 SubscriberLink handles broadcasting messages to a single subscriber on a single topic. More...
class  InvalidNameException
 Thrown when an invalid graph resource name is specified to any roscpp function. More...
class  InvalidNodeNameException
 Thrown when an invalid node name is specified to ros::init(). More...
class  InvalidParameterException
 Thrown when an invalid parameter is passed to a method. More...
class  InvalidPortException
 Thrown when an invalid port is specified. More...
class  MessageDeserializer
class  MessageEvent
 Event type for subscriptions, const ros::MessageEvent<M const>& can be used in your callback instead of const boost::shared_ptr<M const>&. More...
class  MultiThreadedSpinner
 Spinner which spins in multiple threads. More...
class  NodeHandle
 roscpp's interface for creating subscribers, publishers, etc. More...
class  NodeHandleBackingCollection
struct  ParameterAdapter
 Generally not for outside use. Adapts a function parameter type into the message type, event type and parameter. Allows you to retrieve a parameter type from an event type. More...
struct  ParameterAdapter< boost::shared_ptr< M > >
struct  ParameterAdapter< boost::shared_ptr< M const > >
struct  ParameterAdapter< const boost::shared_ptr< M > & >
struct  ParameterAdapter< const boost::shared_ptr< M const > & >
struct  ParameterAdapter< const M & >
struct  ParameterAdapter< const ros::MessageEvent< M > & >
struct  ParameterAdapter< const ros::MessageEvent< M const > & >
class  PeerConnDisconnCallback
class  PollManager
class  PollSet
 Manages a set of sockets being polled through the poll() function call. More...
class  Publication
 A Publication manages an advertised topic. More...
class  Publisher
 Manages an advertisement on a specific topic. More...
class  PublisherLink
 Handles a connection to a single publisher on a given topic. Receives messages from a publisher and hands them off to its parent Subscription. More...
class  ROSOutAppender
class  ServiceCallback
class  ServiceCallbackHelper
 Abstract base class used by service servers to deal with concrete message types through a common interface. This is one part of the roscpp API that is not fully stable, so overloading this class is not recommended. More...
struct  ServiceCallbackHelperCallParams
class  ServiceCallbackHelperT
 Concrete generic implementation of ServiceCallbackHelper for any normal service type. More...
class  ServiceClient
 Provides a handle-based interface to service client connections. More...
class  ServiceClientLink
 Handles a connection to a single incoming service client. More...
struct  ServiceClientOptions
 Encapsulates all options available for creating a ServiceClient. More...
class  ServiceEvent
 Event type for services, ros::ServiceEvent<MReq, MRes>& can be used in your callback instead of MReq&, MRes&. More...
class  ServiceManager
class  ServicePublication
 Manages an advertised service. More...
class  ServiceServer
 Manages an service advertisement. More...
class  ServiceServerLink
 Handles a connection to a service. If it's a non-persistent client, automatically disconnects when its first service call has finished. More...
struct  ServiceSpec
struct  ServiceSpecCallParams
class  SingleSubscriberPublisher
 Allows publication of a message to a single subscriber. Only available inside subscriber connection callbacks. More...
class  SingleThreadedSpinner
 Spinner which runs in a single thread. More...
class  Spinner
 Abstract interface for classes which spin on a callback queue. More...
struct  SubscribeOptions
 Encapsulates all options available for creating a Subscriber. More...
class  Subscriber
 Manages an subscription callback on a specific topic. More...
struct  SubscriberCallbacks
class  SubscriberLink
class  Subscription
 Manages a subscription on a single topic. More...
class  SubscriptionCallbackHelper
 Abstract base class used by subscriptions to deal with concrete message types through a common interface. This is one part of the roscpp API that is not fully stable, so overloading this class is not recommended. More...
struct  SubscriptionCallbackHelperCallParams
struct  SubscriptionCallbackHelperDeserializeParams
class  SubscriptionCallbackHelperT
 Concrete generic implementation of SubscriptionCallbackHelper for any normal message type. Use directly with care, this is mostly for internal use. More...
class  SubscriptionQueue
class  Timer
 Manages a timer callback. More...
struct  TimerEvent
 Structure passed as a parameter to the callback invoked by a ros::Timer. More...
class  TimerManager
struct  TimerOptions
 Encapsulates all options available for starting a timer. More...
class  TopicManager
class  Transport
 Abstract base class that allows abstraction of the transport type, eg. TCP, shared memory, UDP... More...
class  TransportHints
 Provides a way of specifying network transport hints to ros::NodeHandle::subscribe() and someday ros::NodeHandle::advertise(). More...
class  TransportPublisherLink
 Handles a connection to a single publisher on a given topic. Receives messages from a publisher and hands them off to its parent Subscription. More...
class  TransportSubscriberLink
 SubscriberLink handles broadcasting messages to a single subscriber on a single topic. More...
class  TransportTCP
 TCPROS transport. More...
class  TransportUDP
 UDPROS transport. More...
struct  TransportUDPHeader
class  WallTimer
 Manages a wall-clock timer callback. More...
struct  WallTimerEvent
 Structure passed as a parameter to the callback invoked by a ros::WallTimer. More...
struct  WallTimerOptions
 Encapsulates all options available for starting a timer. More...
class  XMLRPCCallWrapper
class  XMLRPCManager

Typedefs

typedef boost::shared_ptr
< AsyncSpinnerImpl
AsyncSpinnerImplPtr
typedef boost::shared_ptr
< ASyncXMLRPCConnection
ASyncXMLRPCConnectionPtr
typedef boost::shared_ptr
< CallbackInterface
CallbackInterfacePtr
typedef boost::shared_ptr
< CallbackQueue
CallbackQueuePtr
typedef boost::shared_ptr
< ConnectionManager
ConnectionManagerPtr
typedef boost::shared_ptr
< Connection
ConnectionPtr
typedef boost::function< bool(const
ConnectionPtr &, const Header &)> 
HeaderReceivedFunc
typedef init_options::InitOption InitOption
typedef TimerManager< WallTime,
WallDuration, WallTimerEvent
InternalTimerManager
typedef boost::shared_ptr
< InternalTimerManager
InternalTimerManagerPtr
typedef boost::shared_ptr
< IntraProcessPublisherLink
IntraProcessPublisherLinkPtr
typedef boost::shared_ptr
< IntraProcessSubscriberLink
IntraProcessSubscriberLinkPtr
typedef std::list
< ServicePublicationPtr
L_ServicePublication
typedef std::list
< ServiceServerLinkPtr
L_ServiceServerLink
typedef std::list
< SubscriptionPtr
L_Subscription
typedef std::map< std::string,
std::string > 
M_string
typedef boost::shared_ptr
< M_string
M_stringPtr
typedef boost::shared_ptr
< MessageDeserializer
MessageDeserializerPtr
typedef boost::shared_ptr
< NodeHandle
NodeHandlePtr
typedef boost::shared_ptr
< PollManager
PollManagerPtr
typedef boost::shared_ptr
< Publication
PublicationPtr
typedef boost::weak_ptr
< Publication
PublicationWPtr
typedef boost::shared_ptr
< PublisherLink
PublisherLinkPtr
typedef boost::function< void(const
ConnectionPtr &, const
boost::shared_array< uint8_t >
&, uint32_t, bool)> 
ReadFinishedFunc
typedef
log4cxx::helpers::ObjectPtrT
< ROSOutAppender
ROSOutAppenderPtr
typedef std::set
< ASyncXMLRPCConnectionPtr
S_ASyncXMLRPCConnection
typedef std::set< ConnectionPtrS_Connection
typedef std::set< std::string > S_string
typedef std::set< SubscriptionPtrS_Subscription
typedef boost::shared_ptr
< ServiceCallbackHelper
ServiceCallbackHelperPtr
typedef boost::shared_ptr
< ServiceClientLink
ServiceClientLinkPtr
typedef boost::shared_ptr
< ServiceClient
ServiceClientPtr
typedef boost::shared_ptr
< ServiceManager
ServiceManagerPtr
typedef boost::shared_ptr
< ServicePublication
ServicePublicationPtr
typedef boost::weak_ptr
< ServicePublication
ServicePublicationWPtr
typedef boost::shared_ptr
< ServiceServerLink
ServiceServerLinkPtr
typedef int signal_fd_t
typedef int socket_fd_t
typedef struct pollfd socket_pollfd
typedef std::pair< std::string,
std::string > 
StringPair
typedef boost::shared_ptr
< SubscriberCallbacks
SubscriberCallbacksPtr
typedef boost::shared_ptr
< SubscriberLink
SubscriberLinkPtr
typedef boost::function< void(const
SingleSubscriberPublisher &)> 
SubscriberStatusCallback
typedef boost::shared_ptr
< SubscriptionCallbackHelper
SubscriptionCallbackHelperPtr
typedef boost::shared_ptr
< SubscriptionCallback > 
SubscriptionCallbackPtr
typedef boost::shared_ptr
< Subscription
SubscriptionPtr
typedef boost::shared_ptr
< SubscriptionQueue
SubscriptionQueuePtr
typedef boost::weak_ptr
< Subscription
SubscriptionWPtr
typedef boost::function< void(const
TimerEvent &)> 
TimerCallback
typedef boost::shared_ptr
< TopicManager
TopicManagerPtr
typedef boost::shared_ptr
< Transport
TransportPtr
typedef boost::shared_ptr
< TransportPublisherLink
TransportPublisherLinkPtr
typedef boost::shared_ptr
< TransportSubscriberLink
TransportSubscriberLinkPtr
typedef boost::shared_ptr
< TransportTCP
TransportTCPPtr
typedef struct
ros::TransportUDPHeader 
TransportUDPHeader
typedef boost::shared_ptr
< TransportUDP
TransportUDPPtr
typedef std::vector
< ConnectionPtr
V_Connection
typedef std::vector
< PublicationPtr
V_Publication
typedef std::vector< PublisherV_Publisher
typedef std::vector
< PublisherLinkPtr
V_PublisherLink
typedef std::vector
< ServiceClientLinkPtr
V_ServiceClientLink
typedef std::vector
< ServicePublicationPtr
V_ServicePublication
typedef std::vector
< ServiceServer
V_ServiceServer
typedef std::vector< std::string > V_string
typedef std::vector< SubscriberV_Subscriber
typedef std::vector
< SubscriberLinkPtr
V_SubscriberLink
typedef std::vector
< SubscriptionPtr
V_Subscription
typedef boost::shared_ptr
< void const > 
VoidConstPtr
typedef boost::weak_ptr< void
const > 
VoidConstWPtr
typedef boost::function< void(void)> VoidFunc
typedef boost::shared_ptr< void > VoidPtr
typedef boost::signal< void(void)> VoidSignal
typedef boost::weak_ptr< void > VoidWPtr
typedef std::vector< std::pair
< std::string, std::string > > 
VP_string
typedef boost::function< void(const
WallTimerEvent &)> 
WallTimerCallback
typedef boost::function< void(const
ConnectionPtr &)> 
WriteFinishedFunc
typedef boost::shared_ptr
< XMLRPCCallWrapper
XMLRPCCallWrapperPtr
typedef boost::function< void(XmlRpc::XmlRpcValue
&, XmlRpc::XmlRpcValue &)> 
XMLRPCFunc
typedef boost::shared_ptr
< XMLRPCManager
XMLRPCManagerPtr

Functions

template<typename T >
void assignServiceConnectionHeader (T *, const boost::shared_ptr< M_string > &, typename boost::disable_if< ros::message_traits::IsMessage< T > >::type *_=0)
template<typename T >
void assignServiceConnectionHeader (T *t, const boost::shared_ptr< M_string > &connection_header, typename boost::enable_if< ros::message_traits::IsMessage< T > >::type *_=0)
template<typename T >
void assignSubscriptionConnectionHeader (T *t, const boost::shared_ptr< M_string > &connection_header, typename boost::disable_if< ros::message_traits::IsMessage< T > >::type *_=0)
template<typename T >
void assignSubscriptionConnectionHeader (T *t, const boost::shared_ptr< M_string > &connection_header, typename boost::enable_if< ros::message_traits::IsMessage< T > >::type *_=0)
void atexitCallback ()
void basicSigintHandler (int sig)
void checkForShutdown ()
void clockCallback (const rosgraph_msgs::Clock::ConstPtr &msg)
void close_signal_pair (signal_fd_t signal_pair[2])
ROSCPP_DECL int close_socket (socket_fd_t &socket)
 Close the socket.
bool closeAllConnections (roscpp::Empty::Request &, roscpp::Empty::Response &)
void closeTransport (const TransportUDPPtr &trans)
ROSCPP_DECL int create_signal_pair (signal_fd_t signal_pair[2])
template<typename M >
ROS_DEPRECATED
boost::shared_ptr< M > 
defaultMessageCreateFunction ()
template<typename M >
boost::shared_ptr< M > defaultServiceCreateFunction ()
void disableAllSignalsInThisThread ()
ROSCPP_DECL CallbackQueuegetGlobalCallbackQueue ()
 Returns a pointer to the global default callback queue.
CallbackQueuePtr getInternalCallbackQueue ()
ROSCPP_DECL InternalTimerManagerPtr getInternalTimerManager ()
bool getLoggers (roscpp::GetLoggers::Request &, roscpp::GetLoggers::Response &resp)
void getPid (const XmlRpcValue &params, XmlRpcValue &result)
ROSCPP_DECL void init (const VP_string &remapping_args, const std::string &name, uint32_t options=0)
 alternate ROS initialization function.
ROSCPP_DECL void init (const M_string &remappings, const std::string &name, uint32_t options=0)
 alternate ROS initialization function.
ROSCPP_DECL void init (int &argc, char **argv, const std::string &name, uint32_t options=0)
 ROS initialization function.
ROSCPP_DECL void initInternalTimerManager ()
void internalCallbackQueueThreadFunc ()
ROSCPP_DECL bool isInitialized ()
 Returns whether or not ros::init() has been called.
ROSCPP_DECL bool isShuttingDown ()
 Returns whether or not ros::shutdown() has been (or is being) called.
ROSCPP_DECL bool isStarted ()
 Returns whether or not the node has been started through ros::start().
ROSCPP_DECL int last_socket_error ()
ROSCPP_DECL bool last_socket_error_is_would_block ()
ROSCPP_DECL const char * last_socket_error_string ()
bool md5sumsMatch (const std::string &lhs, const std::string &rhs)
ROSCPP_DECL bool ok ()
 Check whether it's time to exit.
ROSCPP_DECL int poll_sockets (socket_pollfd *fds, nfds_t nfds, int timeout)
 A cross platform polling function for sockets.
ssize_t read_signal (const signal_fd_t &signal, void *buffer, const size_t &nbyte)
ROSCPP_DECL void removeROSArgs (int argc, const char *const *argv, V_string &args_out)
 returns a vector of program arguments that do not include any ROS remapping arguments. Useful if you need to parse your arguments to determine your node name
ROSCPP_DECL void requestShutdown ()
 Request that the node shut itself down from within a ROS thread.
ROSCPP_DECL int set_non_blocking (socket_fd_t &socket)
bool setLoggerLevel (roscpp::SetLoggerLevel::Request &req, roscpp::SetLoggerLevel::Response &)
ROSCPP_DECL void shutdown ()
 Disconnects everything and unregisters from the master. It is generally not necessary to call this function, as the node will automatically shutdown when all NodeHandles destruct. However, if you want to break out of a spin() loop explicitly, this function allows that.
void shutdownCallback (XmlRpc::XmlRpcValue &params, XmlRpc::XmlRpcValue &result)
ROSCPP_DECL void spin (Spinner &spinner)
 Enter simple event loop.
ROSCPP_DECL void spin ()
 Enter simple event loop.
ROSCPP_DECL void spinOnce ()
 Process a single round of callbacks.
void spinThread ()
ROSCPP_DECL void start ()
 Actually starts the internals of the node (spins up threads, starts the network polling and xmlrpc loops, connects to internal subscriptions like /clock, starts internal service servers, etc.).
bool urisEqual (const std::string &uri1, const std::string &uri2)
ROSCPP_DECL void waitForShutdown ()
 Wait for this node to be shutdown, whether through Ctrl-C, ros::shutdown(), or similar.
ssize_t write_signal (const signal_fd_t &signal, const void *buffer, const size_t &nbyte)

Variables

static bool g_atexit_registered = false
ConnectionManagerPtr g_connection_manager
boost::mutex g_connection_manager_mutex
CallbackQueuePtr g_global_queue
static uint32_t g_init_options = 0
static bool g_initialized = false
static CallbackQueuePtr g_internal_callback_queue
static boost::thread g_internal_queue_thread
int32_t g_nh_refcount = 0
boost::mutex g_nh_refcount_mutex
bool g_node_started_by_nh = false
static bool g_ok = false
PollManagerPtr g_poll_manager
boost::mutex g_poll_manager_mutex
ROSOutAppenderPtr g_rosout_appender
ServiceManagerPtr g_service_manager
boost::mutex g_service_manager_mutex
static bool g_shutdown_requested = false
static volatile bool g_shutting_down = false
static boost::recursive_mutex g_shutting_down_mutex
static boost::mutex g_start_mutex
static bool g_started = false
static InternalTimerManagerPtr g_timer_manager
TopicManagerPtr g_topic_manager
boost::mutex g_topic_manager_mutex
XMLRPCManagerPtr g_xmlrpc_manager
boost::mutex g_xmlrpc_manager_mutex

Detailed Description

Todo:
Locking can be significantly simplified here once the Node API goes away.

Typedef Documentation

typedef boost::shared_ptr<AsyncSpinnerImpl> ros::AsyncSpinnerImplPtr

Definition at line 82 of file spinner.h.

Definition at line 70 of file xmlrpc_manager.h.

typedef boost::shared_ptr< CallbackInterface > ros::CallbackInterfacePtr

Definition at line 74 of file callback_queue_interface.h.

typedef boost::shared_ptr<CallbackQueue> ros::CallbackQueuePtr

Definition at line 172 of file callback_queue.h.

typedef boost::shared_ptr< ConnectionManager > ros::ConnectionManagerPtr

Definition at line 35 of file connection_manager.h.

typedef boost::shared_ptr< Connection > ros::ConnectionPtr

Definition at line 56 of file connection.h.

typedef boost::function<bool(const ConnectionPtr&, const Header&)> ros::HeaderReceivedFunc

Definition at line 61 of file connection.h.

Definition at line 63 of file init.h.

typedef TimerManager<WallTime, WallDuration, WallTimerEvent> ros::InternalTimerManager

Definition at line 38 of file internal_timer_manager.h.

Definition at line 40 of file internal_timer_manager.h.

Definition at line 67 of file intraprocess_publisher_link.h.

Definition at line 37 of file intraprocess_publisher_link.h.

Definition at line 81 of file forwards.h.

Definition at line 85 of file forwards.h.

Definition at line 73 of file forwards.h.

typedef std::map< std::string, std::string > ros::M_string

Definition at line 94 of file forwards.h.

typedef boost::shared_ptr<M_string> ros::M_stringPtr

Definition at line 50 of file header.h.

typedef boost::shared_ptr< MessageDeserializer > ros::MessageDeserializerPtr

Definition at line 61 of file message_deserializer.h.

typedef boost::shared_ptr<NodeHandle> ros::NodeHandlePtr

Definition at line 88 of file forwards.h.

typedef boost::shared_ptr< PollManager > ros::PollManagerPtr

Definition at line 32 of file connection_manager.h.

typedef boost::shared_ptr< Publication > ros::PublicationPtr

Definition at line 64 of file forwards.h.

typedef boost::weak_ptr< Publication > ros::PublicationWPtr

Definition at line 58 of file rosout_appender.h.

typedef boost::shared_ptr< PublisherLink > ros::PublisherLinkPtr

Definition at line 76 of file forwards.h.

typedef boost::function<void(const ConnectionPtr&, const boost::shared_array<uint8_t>&, uint32_t, bool)> ros::ReadFinishedFunc

Definition at line 58 of file connection.h.

typedef log4cxx::helpers::ObjectPtrT<ROSOutAppender> ros::ROSOutAppenderPtr

Definition at line 88 of file rosout_appender.h.

Definition at line 71 of file xmlrpc_manager.h.

typedef std::set<ConnectionPtr> ros::S_Connection

Definition at line 62 of file forwards.h.

typedef std::set<std::string> ros::S_string

Definition at line 93 of file forwards.h.

Definition at line 75 of file forwards.h.

Definition at line 157 of file service_callback_helper.h.

typedef boost::shared_ptr< ServiceClientLink > ros::ServiceClientLinkPtr

Definition at line 84 of file service_client_link.h.

typedef boost::shared_ptr<ServiceClient> ros::ServiceClientPtr

Definition at line 206 of file service_client.h.

typedef boost::shared_ptr< ServiceManager > ros::ServiceManagerPtr

Definition at line 167 of file forwards.h.

typedef boost::shared_ptr< ServicePublication > ros::ServicePublicationPtr

Definition at line 79 of file forwards.h.

Definition at line 43 of file service_client_link.h.

typedef boost::shared_ptr< ServiceServerLink > ros::ServiceServerLinkPtr

Definition at line 83 of file forwards.h.

typedef int ros::signal_fd_t

Definition at line 138 of file io.h.

typedef int ros::socket_fd_t

Definition at line 137 of file io.h.

typedef struct pollfd ros::socket_pollfd

Definition at line 139 of file io.h.

typedef std::pair<std::string, std::string> ros::StringPair

Definition at line 95 of file forwards.h.

Definition at line 129 of file forwards.h.

typedef boost::shared_ptr< SubscriberLink > ros::SubscriberLinkPtr

Definition at line 67 of file forwards.h.

typedef boost::function<void(const SingleSubscriberPublisher&)> ros::SubscriberStatusCallback

Definition at line 97 of file forwards.h.

Definition at line 42 of file message_deserializer.h.

typedef boost::shared_ptr<SubscriptionCallback> ros::SubscriptionCallbackPtr

Definition at line 42 of file subscription.h.

typedef boost::shared_ptr< Subscription > ros::SubscriptionPtr

Definition at line 70 of file forwards.h.

typedef boost::shared_ptr<SubscriptionQueue> ros::SubscriptionQueuePtr

Definition at line 45 of file subscription.h.

typedef boost::weak_ptr< Subscription > ros::SubscriptionWPtr

Definition at line 72 of file forwards.h.

typedef boost::function<void(const TimerEvent&)> ros::TimerCallback

Definition at line 147 of file forwards.h.

typedef boost::shared_ptr< TopicManager > ros::TopicManagerPtr

Definition at line 169 of file forwards.h.

typedef boost::shared_ptr< Transport > ros::TransportPtr

Definition at line 54 of file connection.h.

Definition at line 88 of file transport_publisher_link.h.

Definition at line 74 of file transport_subscriber_link.h.

typedef boost::shared_ptr< TransportTCP > ros::TransportTCPPtr

Definition at line 56 of file forwards.h.

typedef boost::shared_ptr< TransportUDP > ros::TransportUDPPtr

Definition at line 58 of file forwards.h.

typedef std::vector<ConnectionPtr> ros::V_Connection

Definition at line 63 of file forwards.h.

typedef std::vector<PublicationPtr> ros::V_Publication

Definition at line 66 of file forwards.h.

typedef std::vector<Publisher> ros::V_Publisher

Definition at line 199 of file publisher.h.

typedef std::vector<PublisherLinkPtr> ros::V_PublisherLink

Definition at line 78 of file forwards.h.

Definition at line 50 of file service_publication.h.

Definition at line 82 of file forwards.h.

typedef std::vector<ServiceServer> ros::V_ServiceServer

Definition at line 106 of file service_server.h.

typedef std::vector<std::string> ros::V_string

Definition at line 92 of file forwards.h.

typedef std::vector<Subscriber> ros::V_Subscriber

Definition at line 115 of file subscriber.h.

typedef std::vector< SubscriberLinkPtr > ros::V_SubscriberLink

Definition at line 69 of file forwards.h.

typedef std::vector<SubscriptionPtr> ros::V_Subscription

Definition at line 74 of file forwards.h.

typedef boost::shared_ptr<void const> ros::VoidConstPtr

Definition at line 50 of file forwards.h.

typedef boost::weak_ptr<void const> ros::VoidConstWPtr

Definition at line 51 of file forwards.h.

typedef boost::function<void(void)> ros::VoidFunc

Definition at line 38 of file poll_manager.h.

typedef boost::shared_ptr<void> ros::VoidPtr

Definition at line 48 of file forwards.h.

typedef boost::signal<void(void)> ros::VoidSignal

Definition at line 37 of file poll_manager.h.

typedef boost::weak_ptr<void> ros::VoidWPtr

Definition at line 49 of file forwards.h.

typedef std::vector<std::pair<std::string, std::string> > ros::VP_string

Definition at line 91 of file forwards.h.

typedef boost::function<void(const WallTimerEvent&)> ros::WallTimerCallback

Definition at line 165 of file forwards.h.

typedef boost::function<void(const ConnectionPtr&)> ros::WriteFinishedFunc

Definition at line 59 of file connection.h.

typedef boost::shared_ptr<XMLRPCCallWrapper> ros::XMLRPCCallWrapperPtr

Definition at line 57 of file xmlrpc_manager.h.

typedef boost::function<void(XmlRpc::XmlRpcValue&, XmlRpc::XmlRpcValue&)> ros::XMLRPCFunc

Definition at line 92 of file xmlrpc_manager.h.

typedef boost::shared_ptr< XMLRPCManager > ros::XMLRPCManagerPtr

Definition at line 173 of file forwards.h.


Function Documentation

template<typename T >
void ros::assignServiceConnectionHeader ( T *  ,
const boost::shared_ptr< M_string > &  ,
typename boost::disable_if< ros::message_traits::IsMessage< T > >::type *  _ = 0 
) [inline]

Definition at line 61 of file service_callback_helper.h.

template<typename T >
void ros::assignServiceConnectionHeader ( T *  t,
const boost::shared_ptr< M_string > &  connection_header,
typename boost::enable_if< ros::message_traits::IsMessage< T > >::type *  _ = 0 
) [inline]

Definition at line 52 of file service_callback_helper.h.

template<typename T >
void ros::assignSubscriptionConnectionHeader ( T *  t,
const boost::shared_ptr< M_string > &  connection_header,
typename boost::disable_if< ros::message_traits::IsMessage< T > >::type *  _ = 0 
) [inline]

Definition at line 86 of file subscription_callback_helper.h.

template<typename T >
void ros::assignSubscriptionConnectionHeader ( T *  t,
const boost::shared_ptr< M_string > &  connection_header,
typename boost::enable_if< ros::message_traits::IsMessage< T > >::type *  _ = 0 
) [inline]

Definition at line 77 of file subscription_callback_helper.h.

void ros::atexitCallback (  ) 

Definition at line 137 of file init.cpp.

void ros::basicSigintHandler ( int  sig  ) 

Definition at line 254 of file init.cpp.

void ros::checkForShutdown (  ) 

Definition at line 111 of file init.cpp.

void ros::clockCallback ( const rosgraph_msgs::Clock::ConstPtr &  msg  ) 

Definition at line 239 of file init.cpp.

void ros::close_signal_pair ( signal_fd_t  signal_pair[2]  )  [inline]

Closes the signal pair - on windows we're using sockets (because windows select() function cant handle pipes). On linux, we're just using the pipes.

Parameters:
signal_pair : the signal pair type.

Definition at line 163 of file io.h.

int ros::close_socket ( socket_fd_t &  socket  ) 

Close the socket.

Returns:
int : 0 on success, -1 on failure.

Definition at line 258 of file io.cpp.

bool ros::closeAllConnections ( roscpp::Empty::Request ,
roscpp::Empty::Response  
)

Definition at line 232 of file init.cpp.

void ros::closeTransport ( const TransportUDPPtr &  trans  ) 

Definition at line 435 of file subscription.cpp.

int ros::create_signal_pair ( signal_fd_t  signal_pair[2]  ) 

This code is primarily from the msdn socket tutorials.

Parameters:
signal_pair : a pair of sockets linked to each other over localhost.
Returns:
0 on success, -1 on failure.

Definition at line 282 of file io.cpp.

template<typename M >
ROS_DEPRECATED boost::shared_ptr<M> ros::defaultMessageCreateFunction (  )  [inline]

Definition at line 59 of file message_event.h.

template<typename M >
boost::shared_ptr<M> ros::defaultServiceCreateFunction (  )  [inline]

Definition at line 68 of file service_callback_helper.h.

void ros::disableAllSignalsInThisThread (  ) 

Definition at line 49 of file common.cpp.

CallbackQueue * ros::getGlobalCallbackQueue (  ) 

Returns a pointer to the global default callback queue.

This is the queue that all callbacks get added to unless a different one is specified, either in the NodeHandle or in the individual NodeHandle::subscribe()/NodeHandleadvertise()/etc. functions.

Definition at line 517 of file init.cpp.

CallbackQueuePtr ros::getInternalCallbackQueue (  ) 
InternalTimerManagerPtr ros::getInternalTimerManager (  ) 

Definition at line 34 of file internal_timer_manager.cpp.

bool ros::getLoggers ( roscpp::GetLoggers::Request ,
roscpp::GetLoggers::Response resp 
)

Definition at line 162 of file init.cpp.

void ros::getPid ( const XmlRpcValue &  params,
XmlRpcValue &  result 
)

Definition at line 90 of file xmlrpc_manager.cpp.

void ros::init ( const VP_string &  remapping_args,
const std::string &  name,
uint32_t  options = 0 
)

alternate ROS initialization function.

Parameters:
remappings A vector<pair<string, string> > where each one constitutes a name remapping, or one of the special remappings like __name, __master, __ns, etc.
name Name of this node. The name must be a base name, ie. it cannot contain namespaces.
options [optional] Options to start the node with (a set of bit flags from ros::init_options)
Exceptions:
InvalidNodeNameException If the name passed in is not a valid "base" name

Definition at line 467 of file init.cpp.

void ros::init ( const M_string &  remappings,
const std::string &  name,
uint32_t  options = 0 
)

alternate ROS initialization function.

Parameters:
remappings A map<string, string> where each one constitutes a name remapping, or one of the special remappings like __name, __master, __ns, etc.
name Name of this node. The name must be a base name, ie. it cannot contain namespaces.
options [optional] Options to start the node with (a set of bit flags from ros::init_options)
Exceptions:
InvalidNodeNameException If the name passed in is not a valid "base" name

Definition at line 399 of file init.cpp.

void ros::init ( int &  argc,
char **  argv,
const std::string &  name,
uint32_t  options = 0 
)

ROS initialization function.

This function will parse any ROS arguments (e.g., topic name remappings), and will consume them (i.e., argc and argv may be modified as a result of this call).

Use this version if you are using the NodeHandle API

Parameters:
argc 
argv 
name Name of this node. The name must be a base name, ie. it cannot contain namespaces.
options [optional] Options to start the node with (a set of bit flags from ros::init_options)
Exceptions:
InvalidNodeNameException If the name passed in is not a valid "base" name

Definition at line 433 of file init.cpp.

void ros::initInternalTimerManager (  ) 

Definition at line 39 of file internal_timer_manager.cpp.

void ros::internalCallbackQueueThreadFunc (  ) 

Definition at line 259 of file init.cpp.

bool ros::isInitialized (  ) 

Returns whether or not ros::init() has been called.

Definition at line 101 of file init.cpp.

bool ros::isShuttingDown (  ) 

Returns whether or not ros::shutdown() has been (or is being) called.

Definition at line 106 of file init.cpp.

bool ros::isStarted (  ) 

Returns whether or not the node has been started through ros::start().

Definition at line 271 of file init.cpp.

int ros::last_socket_error (  ) 

Definition at line 55 of file io.cpp.

bool ros::last_socket_error_is_would_block (  ) 

Definition at line 74 of file io.cpp.

const char * ros::last_socket_error_string (  ) 

Definition at line 62 of file io.cpp.

bool ros::md5sumsMatch ( const std::string &  lhs,
const std::string &  rhs 
)

Definition at line 199 of file topic_manager.cpp.

bool ros::ok (  ) 

Check whether it's time to exit.

ok() becomes false once ros::shutdown() has been called and is finished

Returns:
true if we're still OK, false if it's time to exit

Definition at line 522 of file init.cpp.

int ros::poll_sockets ( socket_pollfd *  fds,
nfds_t  nfds,
int  timeout 
)

A cross platform polling function for sockets.

Windows doesn't have a polling function until Vista (WSAPoll) and even then its implementation is not supposed to be great. This works for a broader range of platforms and will suffice.

Parameters:
fds - the socket set (descriptor's and events) to poll for.
nfds - the number of descriptors to poll for.
timeout - timeout in milliseconds.
Returns:
int : -1 on error, 0 on timeout, +ve number of structures with received events.

Definition at line 104 of file io.cpp.

ssize_t ros::read_signal ( const signal_fd_t &  signal,
void *  buffer,
const size_t &  nbyte 
) [inline]

Read from a signal_fd_t device. On windows we're using sockets (because windows select() function cant handle pipes) so we have to use socket functions. On linux, we're just using the pipes.

Definition at line 201 of file io.h.

void ros::removeROSArgs ( int  argc,
const char *const *  argv,
V_string &  args_out 
)

returns a vector of program arguments that do not include any ROS remapping arguments. Useful if you need to parse your arguments to determine your node name

Parameters:
argc the number of command-line arguments
argv the command-line arguments
[out] args_out Output args, stripped of any ROS args

Definition at line 480 of file init.cpp.

void ros::requestShutdown (  ) 

Request that the node shut itself down from within a ROS thread.

This method signals a ROS thread to call shutdown().

Definition at line 132 of file init.cpp.

int ros::set_non_blocking ( socket_fd_t &  socket  ) 

Sets the socket as non blocking.

Returns:
int : 0 on success, WSAGetLastError()/errno on failure.

Definition at line 237 of file io.cpp.

bool ros::setLoggerLevel ( roscpp::SetLoggerLevel::Request req,
roscpp::SetLoggerLevel::Response  
)

Definition at line 194 of file init.cpp.

void ros::shutdown (  ) 

Disconnects everything and unregisters from the master. It is generally not necessary to call this function, as the node will automatically shutdown when all NodeHandles destruct. However, if you want to break out of a spin() loop explicitly, this function allows that.

Definition at line 527 of file init.cpp.

void ros::shutdownCallback ( XmlRpc::XmlRpcValue &  params,
XmlRpc::XmlRpcValue &  result 
)

Definition at line 146 of file init.cpp.

void ros::spin ( Spinner &  spinner  ) 

Enter simple event loop.

This method enters a loop, processing callbacks. This method should only be used if the NodeHandle API is being used.

This method is mostly useful when your node does all of its work in subscription callbacks. It will not process any callbacks that have been assigned to custom queues.

Parameters:
spinner a spinner to use to call callbacks. Two default implementations are available, SingleThreadedSpinner and MultiThreadedSpinner

Definition at line 499 of file init.cpp.

void ros::spin (  ) 

Enter simple event loop.

This method enters a loop, processing callbacks. This method should only be used if the NodeHandle API is being used.

This method is mostly useful when your node does all of its work in subscription callbacks. It will not process any callbacks that have been assigned to custom queues.

Definition at line 493 of file init.cpp.

void ros::spinOnce (  ) 

Process a single round of callbacks.

This method is useful if you have your own loop running and would like to process any callbacks that are available. This is equivalent to calling callAvailable() on the global CallbackQueue. It will not process any callbacks that have been assigned to custom queues.

Definition at line 504 of file init.cpp.

void ros::spinThread (  ) 

Definition at line 141 of file node_handle.cpp.

void ros::start (  ) 

Actually starts the internals of the node (spins up threads, starts the network polling and xmlrpc loops, connects to internal subscriptions like /clock, starts internal service servers, etc.).

Usually unnecessary to call manually, as it is automatically called by the creation of the first NodeHandle if the node has not already been started. If you would like to prevent the automatic shutdown caused by the last NodeHandle going out of scope, call this before any NodeHandle has been created (e.g. immediately after init())

Definition at line 276 of file init.cpp.

bool ros::urisEqual ( const std::string &  uri1,
const std::string &  uri2 
)

Definition at line 198 of file subscription.cpp.

void ros::waitForShutdown (  ) 

Wait for this node to be shutdown, whether through Ctrl-C, ros::shutdown(), or similar.

Definition at line 509 of file init.cpp.

ssize_t ros::write_signal ( const signal_fd_t &  signal,
const void *  buffer,
const size_t &  nbyte 
) [inline]

Write to a signal_fd_t device. On windows we're using sockets (because windows select() function cant handle pipes) so we have to use socket functions. On linux, we're just using the pipes.

Definition at line 184 of file io.h.


Variable Documentation

bool ros::g_atexit_registered = false [static]

Definition at line 92 of file init.cpp.

Definition at line 39 of file connection_manager.cpp.

Definition at line 40 of file connection_manager.cpp.

Definition at line 86 of file init.cpp.

uint32_t ros::g_init_options = 0 [static]

Definition at line 95 of file init.cpp.

bool ros::g_initialized = false [static]

Definition at line 90 of file init.cpp.

Definition at line 88 of file init.cpp.

boost::thread ros::g_internal_queue_thread [static]

Definition at line 99 of file init.cpp.

int32_t ros::g_nh_refcount = 0

Definition at line 53 of file node_handle.cpp.

Definition at line 52 of file node_handle.cpp.

Definition at line 54 of file node_handle.cpp.

bool ros::g_ok = false [static]

Definition at line 94 of file init.cpp.

Definition at line 36 of file poll_manager.cpp.

Definition at line 37 of file poll_manager.cpp.

Definition at line 87 of file init.cpp.

Definition at line 55 of file service_manager.cpp.

Definition at line 56 of file service_manager.cpp.

bool ros::g_shutdown_requested = false [static]

Definition at line 96 of file init.cpp.

volatile bool ros::g_shutting_down = false [static]

Definition at line 97 of file init.cpp.

boost::recursive_mutex ros::g_shutting_down_mutex [static]

Definition at line 98 of file init.cpp.

boost::mutex ros::g_start_mutex [static]

Definition at line 93 of file init.cpp.

bool ros::g_started = false [static]

Definition at line 91 of file init.cpp.

Definition at line 32 of file internal_timer_manager.cpp.

Definition at line 56 of file topic_manager.cpp.

Definition at line 57 of file topic_manager.cpp.

Definition at line 97 of file xmlrpc_manager.cpp.

Definition at line 98 of file xmlrpc_manager.cpp.

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roscpp
Author(s): Morgan Quigley mquigley@cs.stanford.edu, Josh Faust jfaust@willowgarage.com, Brian Gerkey gerkey@willowgarage.com, Troy Straszheim straszheim@willowgarage.com
autogenerated on Fri Jan 11 12:14:31 2013