Template Class Subscriber

Defined in File subscriber.hpp

Inheritance Relationships

Base Types

public message_filters::SubscriberBase< DeprecatedTemplateParameter > (Template Class SubscriberBase)
public message_filters::SimpleFilter< message_type_t< M > > (Template Class SimpleFilter)

Class Documentation

template<class M, class NodeType = DeprecatedTemplateParameter> class Subscriber : public message_filters::SubscriberBase<DeprecatedTemplateParameter>, public message_filters::SimpleFilter<message_type_t<M>>

Public Types

typedef message_type_t<M> MessageType

typedef MessageEvent<MessageType const> EventType

using RequiredInterfaces = typename SubscriberBase<NodeType>::RequiredInterfaces

using NodeParametersInterface = typename SubscriberBase<NodeType>::NodeParametersInterface

using NodeTopicsInterface = typename SubscriberBase<NodeType>::NodeTopicsInterface

Public Functions

template<typename U = NodeType, std::enable_if_t<!std::is_same<U, DeprecatedTemplateParameter>{}, int> = 0> inline Subscriber(RequiredInterfaces node_interfaces, const std::string &topic, const rclcpp::QoS &qos, rclcpp::SubscriptionOptions options): Solely for highlighting deprecated template parameters with a compiler warning.

template<typename U = NodeType, std::enable_if_t<!std::is_same<U, DeprecatedTemplateParameter>{}, int> = 0> inline Subscriber(RequiredInterfaces node_interfaces, const std::string &topic, const rclcpp::QoS &qos): Solely for highlighting deprecated template parameters with a compiler warning.

template<typename U = NodeType, std::enable_if_t<std::is_same<U, DeprecatedTemplateParameter>{}, int> = 0> inline Subscriber(RequiredInterfaces node_interfaces, const std::string &topic, const rclcpp::QoS &qos)

Constructor.

See the rclcpp::Node::subscribe() variants for more information on the parameters

Parameters:

node – The NodeInterfaces to use to subscribe.
topic – The topic to subscribe to.
qos – (optional) The rmw qos profile to use to subscribe

template<typename NodeT> inline Subscriber(std::shared_ptr<NodeT> node, const std::string &topic, const rclcpp::QoS &qos)

template<typename NodeT> inline Subscriber(NodeT *node, const std::string &topic, const rclcpp::QoS &qos)

template<typename U = NodeType, std::enable_if_t<std::is_same<U, DeprecatedTemplateParameter>{}, int> = 0> inline Subscriber(RequiredInterfaces node_interfaces, const std::string &topic, const rclcpp::QoS &qos, rclcpp::SubscriptionOptions options)

Constructor.

See the rclcpp::Node::subscribe() variants for more information on the parameters

Parameters:

node – The NodeInterfaces to use to subscribe.
topic – The topic to subscribe to.
qos – The rmw qos profile to use to subscribe.
options – The subscription options to use to subscribe.

template<typename NodeT> inline Subscriber(std::shared_ptr<NodeT> node, const std::string &topic, const rclcpp::QoS &qos, rclcpp::SubscriptionOptions options)

template<typename NodeT> inline Subscriber(NodeT *node, const std::string &topic, const rclcpp::QoS &qos, rclcpp::SubscriptionOptions options)

inline Subscriber(RequiredInterfaces node_interfaces, const std::string &topic, const rmw_qos_profile_t qos = rmw_qos_profile_default)

template<typename NodeT> inline Subscriber(NodeT *node, const std::string &topic, const rmw_qos_profile_t qos = rmw_qos_profile_default)

template<typename NodeT> inline Subscriber(std::shared_ptr<NodeT> node, const std::string &topic, const rmw_qos_profile_t qos = rmw_qos_profile_default)

inline Subscriber(RequiredInterfaces node_interfaces, const std::string &topic, const rmw_qos_profile_t qos, rclcpp::SubscriptionOptions options)

Constructor.

See the rclcpp::Node::subscribe() variants for more information on the parameters

Parameters:

node – The NodeInterfaces to use to subscribe.
topic – The topic to subscribe to.
qos – The rmw qos profile to use to subscribe.
options – The subscription options to use to subscribe.

template<typename NodeT> inline Subscriber(NodeT *node, const std::string &topic, const rmw_qos_profile_t qos, rclcpp::SubscriptionOptions options)

template<typename NodeT> inline Subscriber(std::shared_ptr<NodeT> node, const std::string &topic, const rmw_qos_profile_t qos, rclcpp::SubscriptionOptions options)

Subscriber() = default: Empty constructor, use subscribe() to subscribe to a topic.

inline ~Subscriber()

inline virtual void subscribe(RequiredInterfaces node_interfaces, const std::string &topic, const rclcpp::QoS &qos) override

Subscribe to a topic.

If this Subscriber is already subscribed to a topic, this function will first unsubscribe.

Parameters:

node – The NodeInterfaces to use to subscribe.
topic – The topic to subscribe to.
qos – (optional) The rmw qos profile to use to subscribe

template<typename NodeT> inline void subscribe(NodeT *node, const std::string &topic, const rclcpp::QoS &qos)

template<typename NodeT> inline void subscribe(std::shared_ptr<NodeT> node, const std::string &topic, const rclcpp::QoS &qos)

inline virtual void subscribe(RequiredInterfaces node_interfaces, const std::string &topic, const rclcpp::QoS &qos, rclcpp::SubscriptionOptions options) override

Subscribe to a topic.

If this Subscriber is already subscribed to a topic, this function will first unsubscribe.

Parameters:

node – The NodeInterfaces to use to subscribe.
topic – The topic to subscribe to.
qos – The rmw qos profile to use to subscribe.
options – The subscription options to use to subscribe.

template<typename NodeT> inline void subscribe(NodeT *node, const std::string &topic, const rclcpp::QoS &qos, rclcpp::SubscriptionOptions options)

template<typename NodeT> inline void subscribe(std::shared_ptr<NodeT> node, const std::string &topic, const rclcpp::QoS &qos, rclcpp::SubscriptionOptions options)

inline virtual void subscribe(RequiredInterfaces node_interfaces, const std::string &topic, const rmw_qos_profile_t qos = rmw_qos_profile_default) override

Subscribe to a topic.

If this Subscriber is already subscribed to a topic, this function will first unsubscribe.

Parameters:

node – The NodeInterfaces to use to subscribe.
topic – The topic to subscribe to.
qos – (optional) The rmw qos profile to use to subscribe

template<typename NodeT> inline void subscribe(NodeT *node, const std::string &topic, const rmw_qos_profile_t qos = rmw_qos_profile_default)

template<typename NodeT> inline void subscribe(std::shared_ptr<NodeT> node, const std::string &topic, const rmw_qos_profile_t qos = rmw_qos_profile_default)

inline virtual void subscribe(RequiredInterfaces node_interfaces, const std::string &topic, const rmw_qos_profile_t qos, rclcpp::SubscriptionOptions options) override

Subscribe to a topic.

If this Subscriber is already subscribed to a topic, this function will first unsubscribe.

Parameters:

node – The NodeInterfaces to use to subscribe.
topic – The topic to subscribe to.
qos – The rmw qos profile to use to subscribe.
options – The subscription options to use to subscribe.

template<typename NodeT> inline void subscribe(NodeT *node, const std::string &topic, const rmw_qos_profile_t qos, rclcpp::SubscriptionOptions options)

template<typename NodeT> inline void subscribe(std::shared_ptr<NodeT> node, const std::string &topic, const rmw_qos_profile_t qos, rclcpp::SubscriptionOptions options)

inline virtual void subscribe() override: Re-subscribe to a topic. Only works if this subscriber has previously been subscribed to a topic.

inline virtual void unsubscribe() override: Force immediate unsubscription of this subscriber from its topic.

inline std::string getTopic() const

inline const rclcpp::Subscription<M>::SharedPtr getSubscriber() const: Returns the internal rclcpp::Subscription<M>::SharedPtr object.

template<typename F> inline void connectInput(F &f): Does nothing. Provided so that Subscriber may be used in a message_filters::Chain.

inline void add(const EventType &e): Does nothing. Provided so that Subscriber may be used in a message_filters::Chain.