Map2D_nws_ros2: A device capable of read/save collections of maps from disk, and make them accessible to any Map2DClient device. More...

#include </home/runner/work/yarp-documentation/yarp-documentation/yarp/opt-modules/yarp-devices-ros2/src/devices/map2D_nws_ros2/Map2D_nws_ros2.h>

Inheritance diagram for Map2D_nws_ros2:

Public Member Functions
	Map2D_nws_ros2 ()

	~Map2D_nws_ros2 () override=default

bool	attach (yarp::dev::PolyDriver *driver) override
	Attach to another object.

bool	detach () override
	Detach the object (you must have first called attach).

bool	open (yarp::os::Searchable &config) override
	Open the DeviceDriver.

bool	close () override
	Close the DeviceDriver.

bool	read (yarp::os::ConnectionReader &connection) override
	Read this object from a network connection.

void	getMapCallback (const std::shared_ptr< rmw_request_id_t > request_header, const std::shared_ptr< nav_msgs::srv::GetMap::Request > request, std::shared_ptr< nav_msgs::srv::GetMap::Response > response)

void	getMapByNameCallback (const std::shared_ptr< rmw_request_id_t > request_header, const std::shared_ptr< map2d_nws_ros2_msgs::srv::GetMapByName::Request > request, std::shared_ptr< map2d_nws_ros2_msgs::srv::GetMapByName::Response > response)

void	rosCmdParserCallback (const std::shared_ptr< rmw_request_id_t > request_header, const std::shared_ptr< test_msgs::srv::BasicTypes::Request > request, std::shared_ptr< test_msgs::srv::BasicTypes::Response > response)

bool	updateVizMarkers ()

void	run () override
	Main body of the new thread.

Public Member Functions inherited from yarp::os::Thread
	Thread ()
	Constructor.

virtual	~Thread ()
	Destructor.

virtual void	onStop ()
	Call-back, called while halting the thread (before join).

bool	start ()
	Start the new thread running.

bool	stop ()
	Stop the thread.

virtual void	beforeStart ()
	Called just before a new thread starts.

virtual void	afterStart (bool success)
	Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start().

virtual bool	threadInit ()
	Initialization method.

virtual void	threadRelease ()
	Release method.

bool	isStopping ()
	Returns true if the thread is stopping (Thread::stop has been called).

bool	isRunning ()
	Returns true if the thread is running (Thread::start has been called successfully and the thread has not stopped).

long int	getKey ()
	Get a unique identifier for the thread.

int	setPriority (int priority, int policy=-1)
	Set the priority and scheduling policy of the thread, if the OS supports that.

int	getPriority ()
	Query the current priority of the thread, if the OS supports that.

int	getPolicy ()
	Query the current scheduling policy of the thread, if the OS supports that.

bool	join (double seconds=-1)
	The function returns when the thread execution has completed.

void	setOptions (int stackSize=0)
	Set the stack size for the new thread.

Public Member Functions inherited from yarp::dev::DeviceDriver
	DeviceDriver ()

	DeviceDriver (const DeviceDriver &other)=delete

	DeviceDriver (DeviceDriver &&other) noexcept=delete

DeviceDriver &	operator= (const DeviceDriver &other)=delete

DeviceDriver &	operator= (DeviceDriver &&other) noexcept=delete

	~DeviceDriver () override

virtual std::string	id () const
	Return the id assigned to the PolyDriver.

virtual void	setId (const std::string &id)
	Set the id for this device.

template<class T >
bool	view (T *&x)
	Get an interface to the device driver.

virtual DeviceDriver *	getImplementation ()
	Some drivers are bureaucrats, pointing at others.

Public Member Functions inherited from yarp::os::IConfig
virtual	~IConfig ()
	Destructor.

virtual bool	configure (Searchable &config)
	Change online parameters.

Public Member Functions inherited from yarp::os::PortReader
virtual	~PortReader ()
	Destructor.

virtual Type	getReadType () const

Public Member Functions inherited from yarp::dev::WrapperSingle
	~WrapperSingle () override
	Destructor.

bool	attachAll (const yarp::dev::PolyDriverList &drivers) final
	Attach to a list of objects.

bool	detachAll () final
	Detach the object (you must have first called attach).

Public Member Functions inherited from yarp::dev::IWrapper
virtual	~IWrapper ()
	Destructor.

Public Member Functions inherited from yarp::dev::IMultipleWrapper
virtual	~IMultipleWrapper ()
	Destructor.

Additional Inherited Members
Static Public Member Functions inherited from yarp::os::Thread
static int	getCount ()
	Check how many threads are running.

static long int	getKeyOfCaller ()
	Get a unique identifier for the calling thread.

static void	yield ()
	Reschedule the execution of current thread, allowing other threads to run.

static void	setDefaultStackSize (int stackSize)
	Set the default stack size for all threads created after this point.

Detailed Description

Map2D_nws_ros2: A device capable of read/save collections of maps from disk, and make them accessible to any Map2DClient device.

Map2D_nws_ros2

Parameters required by this device are:

Parameter name	SubParameter	Type	Units	Default Value	Required	Description	Notes
name	-	string	-	map2D_nws_ros	No	Device name prefix
getmap	-	string	-	getMap	No	The "GetMap" ROS service name	For the moment being the service always responds with an empty map
getmapbyname	-	string	-	getMapByName	No	The "GetMapByName" ROS2 custom service name	The map returned by this service is also available via publisher named "getmapbyname value"/pub
roscmdparser	-	string	-	rosCmdParser	No	The "BasicTypes" ROS service name	This is used to send commands to the nws via ros2 BasicTypes service
markers_pub	-	string	-	locationServerMarkers	No	The visual markers array publisher name
node_name	-	string	-	-	No	The ROS2 node name. If absent, the device name will be used

Definition at line 71 of file Map2D_nws_ros2.h.

Constructor & Destructor Documentation

◆ Map2D_nws_ros2()

Map2D_nws_ros2::Map2D_nws_ros2 ( )

Definition at line 40 of file Map2D_nws_ros2.cpp.

◆ ~Map2D_nws_ros2()

Map2D_nws_ros2::~Map2D_nws_ros2 ( )

overridedefault

Member Function Documentation

◆ attach()

bool Map2D_nws_ros2::attach ( yarp::dev::PolyDriver * driver )

overridevirtual

Attach to another object.

Parameters

driver the polydriver that you want to attach to.

Returns: true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 43 of file Map2D_nws_ros2.cpp.

◆ close()

bool Map2D_nws_ros2::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 151 of file Map2D_nws_ros2.cpp.

◆ detach()

bool Map2D_nws_ros2::detach ( )

overridevirtual

Detach the object (you must have first called attach).

Returns: true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 62 of file Map2D_nws_ros2.cpp.

◆ getMapByNameCallback()

void Map2D_nws_ros2::getMapByNameCallback	(	const std::shared_ptr< rmw_request_id_t >	request_header,
		const std::shared_ptr< map2d_nws_ros2_msgs::srv::GetMapByName::Request >	request,
		std::shared_ptr< map2d_nws_ros2_msgs::srv::GetMapByName::Response >	response
	)

Definition at line 295 of file Map2D_nws_ros2.cpp.

◆ getMapCallback()

void Map2D_nws_ros2::getMapCallback	(	const std::shared_ptr< rmw_request_id_t >	request_header,
		const std::shared_ptr< nav_msgs::srv::GetMap::Request >	request,
		std::shared_ptr< nav_msgs::srv::GetMap::Response >	response
	)

Definition at line 268 of file Map2D_nws_ros2.cpp.

◆ open()

bool Map2D_nws_ros2::open ( yarp::os::Searchable & config )

overridevirtual

Open the DeviceDriver.

Parameters

config is a list of parameters for the device. Which parameters are effective for your device can vary. See device invocation examples. If there is no example for your device, you can run the "yarpdev" program with the verbose flag set to probe what parameters the device is checking. If that fails too, you'll need to read the source code (please nag one of the yarp developers to add documentation for your device).

Returns: true/false upon success/failure

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 68 of file Map2D_nws_ros2.cpp.

◆ read()

bool Map2D_nws_ros2::read ( yarp::os::ConnectionReader & reader )

overridevirtual

Read this object from a network connection.

Override this for your particular class.

Parameters

reader an interface to the network connection for reading

Returns: true iff the object is successfully read

Implements yarp::os::PortReader.

Definition at line 159 of file Map2D_nws_ros2.cpp.

◆ rosCmdParserCallback()

void Map2D_nws_ros2::rosCmdParserCallback	(	const std::shared_ptr< rmw_request_id_t >	request_header,
		const std::shared_ptr< test_msgs::srv::BasicTypes::Request >	request,
		std::shared_ptr< test_msgs::srv::BasicTypes::Response >	response
	)

Definition at line 279 of file Map2D_nws_ros2.cpp.

◆ run()

void Map2D_nws_ros2::run ( )

overridevirtual

Main body of the new thread.

Override this method to do what you want. After Thread::start is called, this method will start running in a separate thread. It is important that this method either keeps checking Thread::isStopping to see if it should stop, or you override the Thread::onStop method to interact with it in some way to shut the new thread down. There is no really reliable, portable way to stop a thread cleanly unless that thread cooperates.

Implements yarp::os::Thread.

Definition at line 141 of file Map2D_nws_ros2.cpp.

◆ updateVizMarkers()

bool Map2D_nws_ros2::updateVizMarkers ( )

Definition at line 192 of file Map2D_nws_ros2.cpp.

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

opt-modules/yarp-devices-ros2/src/devices/map2D_nws_ros2/Map2D_nws_ros2.h
opt-modules/yarp-devices-ros2/src/devices/map2D_nws_ros2/Map2D_nws_ros2.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Map2D_nws_ros2

Constructor & Destructor Documentation

◆ Map2D_nws_ros2()

◆ ~Map2D_nws_ros2()

Member Function Documentation

◆ attach()

◆ close()

◆ detach()

◆ getMapByNameCallback()

◆ getMapCallback()

◆ open()

◆ read()

◆ rosCmdParserCallback()

◆ run()

◆ updateVizMarkers()