yasmin_ros::PublisherState< MsgT > Class Template Reference

Template class to publish ROS 2 messages. More...

#include <publisher_state.hpp>

Inheritance diagram for yasmin_ros::PublisherState< MsgT >:

Collaboration diagram for yasmin_ros::PublisherState< MsgT >:

Public Member Functions
	PublisherState (const std::string &topic_name, CreateMessageHandler create_message_handler, rclcpp::QoS qos=10, rclcpp::CallbackGroup::SharedPtr callback_group=nullptr)
	Construct a new PublisherState with ROS 2 node and specific QoS.
	PublisherState (const rclcpp::Node::SharedPtr &node, const std::string &topic_name, CreateMessageHandler create_message_handler, rclcpp::QoS qos=10, rclcpp::CallbackGroup::SharedPtr callback_group=nullptr)
	Construct a new PublisherState with ROS 2 node and specific QoS.
std::string	execute (std::shared_ptr< yasmin::blackboard::Blackboard > blackboard) override
	Execute the publishing operation.
Public Member Functions inherited from yasmin::State
	State (const std::set< std::string > &outcomes)
	Constructs a State with a set of possible outcomes.
StateStatus	get_status () const
	Gets the current status of the state.
bool	is_idle () const
	Checks if the state is idle.
bool	is_running () const
	Checks if the state is currently running.
bool	is_canceled () const
	Checks if the state has been canceled.
bool	is_completed () const
	Checks if the state has completed execution.
std::string	operator() (std::shared_ptr< blackboard::Blackboard > blackboard)
	Executes the state and returns the outcome.
virtual void	cancel_state ()
	Cancels the current state execution.
std::set< std::string > const &	get_outcomes ()
	Gets the set of possible outcomes for this state.
virtual std::string	to_string ()
	Converts the state to a string representation.

Protected Attributes
rclcpp::Node::SharedPtr	node_
	Shared pointer to the ROS 2 node.
Protected Attributes inherited from yasmin::State
std::set< std::string >	outcomes
	The possible outcomes of this state.

Private Types
using	CreateMessageHandler
	Function type for creating messages for topic.

Private Attributes
std::shared_ptr< rclcpp::Publisher< MsgT > >	pub
std::string	topic_name
CreateMessageHandler	create_message_handler

Detailed Description

template<typename MsgT>
class yasmin_ros::PublisherState< MsgT >

Template class to publish ROS 2 messages.

This class provides functionality to publish to a ROS 2 topic of type MsgT and create a custom messages.

Template Parameters

MsgT	The message type of the topic to publish to.

Member Typedef Documentation

CreateMessageHandler

template<typename MsgT>

using yasmin_ros::PublisherState< MsgT >::CreateMessageHandler

private

Initial value:

 
      std::function<MsgT(std::shared_ptr<yasmin::blackboard::Blackboard>)>

Function type for creating messages for topic.

Constructor & Destructor Documentation

PublisherState() [1/2]

template<typename MsgT>

yasmin_ros::PublisherState< MsgT >::PublisherState ( const std::string & topic_name, CreateMessageHandler create_message_handler, rclcpp::QoS qos = 10, rclcpp::CallbackGroup::SharedPtr callback_group = nullptr )

inline

Construct a new PublisherState with ROS 2 node and specific QoS.

Parameters

topic_name	The name of the topic to monitor.
create_message_handler	A callback handler to create messages.
qos	Quality of Service settings for the topic.

PublisherState() [2/2]

template<typename MsgT>

yasmin_ros::PublisherState< MsgT >::PublisherState ( const rclcpp::Node::SharedPtr & node, const std::string & topic_name, CreateMessageHandler create_message_handler, rclcpp::QoS qos = 10, rclcpp::CallbackGroup::SharedPtr callback_group = nullptr )

inline

Construct a new PublisherState with ROS 2 node and specific QoS.

Parameters

node	The ROS 2 node.
topic_name	The name of the topic to monitor.
create_message_handler	A callback handler to create messages.
qos	Quality of Service settings for the topic.

Member Function Documentation

execute()

template<typename MsgT>

std::string yasmin_ros::PublisherState< MsgT >::execute ( std::shared_ptr< yasmin::blackboard::Blackboard > blackboard )

inlineoverridevirtual

Execute the publishing operation.

Parameters

blackboard

A shared pointer to the blackboard for data storage.

Returns

A string outcome indicating the result of the monitoring operation.

Reimplemented from yasmin::State.

Member Data Documentation

create_message_handler

template<typename MsgT>

CreateMessageHandler yasmin_ros::PublisherState< MsgT >::create_message_handler

private

Callback handler to create messages.

node_

template<typename MsgT>

rclcpp::Node::SharedPtr yasmin_ros::PublisherState< MsgT >::node_

protected

Shared pointer to the ROS 2 node.

pub

template<typename MsgT>

std::shared_ptr<rclcpp::Publisher<MsgT> > yasmin_ros::PublisherState< MsgT >::pub

private

Publisher to the ROS 2 topic.

topic_name

template<typename MsgT>

std::string yasmin_ros::PublisherState< MsgT >::topic_name

private

Name of the topic to monitor.

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

• yasmin_ros/include/yasmin_ros/publisher_state.hpp