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The MoveIt Motion Planning Framework for ROS 2.
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Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
rdf_loader::SynchronizedStringParameter Class Reference

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 
)

Definition at line 41 of file synchronized_string_parameter.cpp.

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◆ shouldPublish()

bool rdf_loader::SynchronizedStringParameter::shouldPublish ( )
protected

Definition at line 109 of file synchronized_string_parameter.cpp.

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◆ stringCallback()

void rdf_loader::SynchronizedStringParameter::stringCallback ( const std_msgs::msg::String::ConstSharedPtr &  msg)
protected

Definition at line 147 of file synchronized_string_parameter.cpp.

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◆ waitForMessage()

bool rdf_loader::SynchronizedStringParameter::waitForMessage ( const rclcpp::Duration &  timeout)
protected

Definition at line 121 of file synchronized_string_parameter.cpp.

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Member Data Documentation

◆ content_

std::string rdf_loader::SynchronizedStringParameter::content_
protected

Definition at line 82 of file synchronized_string_parameter.h.

◆ name_

std::string rdf_loader::SynchronizedStringParameter::name_
protected

Definition at line 76 of file synchronized_string_parameter.h.

◆ node_

std::shared_ptr<rclcpp::Node> rdf_loader::SynchronizedStringParameter::node_
protected

Definition at line 75 of file synchronized_string_parameter.h.

◆ parent_callback_

StringCallback rdf_loader::SynchronizedStringParameter::parent_callback_
protected

Definition at line 77 of file synchronized_string_parameter.h.

◆ string_publisher_

rclcpp::Publisher<std_msgs::msg::String>::SharedPtr rdf_loader::SynchronizedStringParameter::string_publisher_
protected

Definition at line 80 of file synchronized_string_parameter.h.

◆ string_subscriber_

rclcpp::Subscription<std_msgs::msg::String>::SharedPtr rdf_loader::SynchronizedStringParameter::string_subscriber_
protected

Definition at line 79 of file synchronized_string_parameter.h.


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