SynchronizedStringParameter is a way to load a string from the ROS environment. More...

#include <synchronized_string_parameter.h>

Public Member Functions
std::string	loadInitialValue (const std::shared_ptr< rclcpp::Node > &node, const std::string &name, const StringCallback &parent_callback={}, bool default_continuous_value=false, double default_timeout=10.0)

Protected Member Functions
bool	getMainParameter ()

bool	shouldPublish ()

bool	waitForMessage (const rclcpp::Duration &timeout)

void	stringCallback (const std_msgs::msg::String::ConstSharedPtr &msg)

Protected Attributes
std::shared_ptr< rclcpp::Node >	node_

std::string	name_

StringCallback	parent_callback_

rclcpp::Subscription< std_msgs::msg::String >::SharedPtr	string_subscriber_

rclcpp::Publisher< std_msgs::msg::String >::SharedPtr	string_publisher_

std::string	content_

Detailed Description

SynchronizedStringParameter is a way to load a string from the ROS environment.

First it tries to load the string from a parameter. If that fails, it subscribes to a std_msgs::String topic of the same name to get the value.

If the parameter is loaded successfully, you can publish the value as a String msg if the publish_NAME param is true.

You can specify how long to wait for a subscribed message with NAME_timeout (double in seconds)

By default, the subscription will be killed after the first message is received. If the parameter NAME_continuous is true, then the parent_callback will be called on every subsequent message.

Definition at line 59 of file synchronized_string_parameter.h.

Member Function Documentation

◆ getMainParameter()

bool rdf_loader::SynchronizedStringParameter::getMainParameter ( )

protected

Definition at line 96 of file synchronized_string_parameter.cpp.

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◆ loadInitialValue()

std::string rdf_loader::SynchronizedStringParameter::loadInitialValue	(	const std::shared_ptr< rclcpp::Node > &	node,
		const std::string &	name,
		const StringCallback &	parent_callback = `{}`,
		bool	default_continuous_value = `false`,
		double	default_timeout = `10.0`
	)