yasmin_ros Namespace Reference

Namespaces
namespace	basic_outcomes
	Provides common outcome constants for ROS 2.

Classes
class	ActionState
	A state class for handling ROS 2 action client operations. More...
class	GetParametersState
	State that retrieves parameters from the ROS 2 parameter server. More...
class	MonitorState
	Template class to monitor a ROS 2 topic and process incoming messages. More...
class	PublisherState
	Template class to publish ROS 2 messages. More...
class	ROSClientsCache
	Centralized cache for managing ROS 2 client objects. More...
class	RosDeserializeCppState
	A state for deserializing ROS 2 messages into C++ objects. More...
class	RosSerializeCppState
	A state for serializing C++ objects into ROS 2 messages. More...
class	ServiceState
	A state class that interacts with a ROS 2 service. More...
struct	InterfaceSerializationHandler
	A structure to hold the serialization handlers for a specific interface type. More...
class	TfBufferState
	State that creates a tf2 buffer and transform listener. More...
class	YasminNode
	A ROS 2 node for managing and handling YASMIN-based applications. More...

Functions
template<typename InterfaceT>
std::vector< uint8_t >	serialize_interface (const InterfaceT &interface_value)
	Serialize a ROS 2 interface instance to a byte array.
template<typename InterfaceT>
InterfaceT	deserialize_interface (const std::vector< uint8_t > &serialized_data)
	Deserialize a ROS 2 interface instance from a byte array.
void	set_ros_loggers (rclcpp::Node::SharedPtr node=nullptr)
	Sets the logging functions for ROS, linking ROS 2 log levels to YASMIN loggers.
const std::unordered_map< std::string, InterfaceSerializationHandler > &	get_supported_interface_serialization_handlers ()
	Get the map of supported interface serialization handlers.
bool	is_supported_interface_type (const std::string &interface_type)
	Check if a given interface type is supported for serialization.
const InterfaceSerializationHandler &	get_interface_serialization_handler (const std::string &interface_type)
	Get the serialization handler for a specific interface type.
std::vector< std::string >	get_supported_interface_types ()
	Get a list of supported interface types for serialization.
void	ros_log_message (yasmin::LogLevel level, const char *file, const char *function, int line, const char *text)
	Generalized logging function.

Variables
rclcpp::Node *	logger_node = nullptr
	Node used in the YASMIN ROS 2 logs.

Function Documentation

deserialize_interface()

template<typename InterfaceT>

InterfaceT yasmin_ros::deserialize_interface

(

const std::vector< uint8_t > &

serialized_data

)

Deserialize a ROS 2 interface instance from a byte array.

Template Parameters

InterfaceT

ROS 2 message, service request/response, or action goal/result/feedback type.

Parameters

serialized_data

Serialized byte array.

Returns

Deserialized interface instance.

get_interface_serialization_handler()

const InterfaceSerializationHandler & yasmin_ros::get_interface_serialization_handler

(

const std::string &

interface_type

)

Get the serialization handler for a specific interface type.

Parameters

interface_type

The type of the interface to get the handler for.

Returns

A reference to the InterfaceSerializationHandler for the specified interface type.

Exceptions

std::invalid_argument

if the interface type is not supported.

get_supported_interface_serialization_handlers()

const std::unordered_map< std::string, InterfaceSerializationHandler > & yasmin_ros::get_supported_interface_serialization_handlers

(

)

Get the map of supported interface serialization handlers.

Returns

A reference to the unordered map containing interface types and their corresponding serialization handlers.

get_supported_interface_types()

std::vector< std::string > yasmin_ros::get_supported_interface_types

(

)

Get a list of supported interface types for serialization.

Returns

A vector of strings containing the supported interface types.

is_supported_interface_type()

bool yasmin_ros::is_supported_interface_type

(

const std::string &

interface_type

)

Check if a given interface type is supported for serialization.

Parameters

interface_type

The type of the interface to check.

Returns

true if the interface type is supported, false otherwise.

ros_log_message()

void yasmin_ros::ros_log_message	(	yasmin::LogLevel	level,
		const char *	file,
		const char *	function,
		int	line,
		const char *	text )

Generalized logging function.

Parameters

level	The log level as a yasmin::LogLevel (e.g., "ERROR", "WARN", "INFO", "DEBUG").
file	The source file where the log function is called.
function	The function where the log function is called.
line	The line number in the source file.
text	The format string for the log message.
args	Additional arguments for the format string.

serialize_interface()

template<typename InterfaceT>

std::vector< uint8_t > yasmin_ros::serialize_interface

(

const InterfaceT &

interface_value

)

Serialize a ROS 2 interface instance to a byte array.

Template Parameters

InterfaceT

ROS 2 message, service request/response, or action goal/result/feedback type.

Parameters

interface_value

The interface instance to serialize.

Returns

Serialized byte array.

set_ros_loggers()

void yasmin_ros::set_ros_loggers

(

rclcpp::Node::SharedPtr

node = nullptr

)

Sets the logging functions for ROS, linking ROS 2 log levels to YASMIN loggers.

This function configures YASMIN to use ROS 2 logging mechanisms for error, warning, info, and debug levels, ensuring messages from YASMIN are routed through ROS 2 loggers.

Parameters

node	ROS 2 node to use as logger node. If null, use YasminNode.

Note

This function should be called once to set up the loggers before any logging occurs within YASMIN components.

Variable Documentation

logger_node

rclcpp::Node * yasmin_ros::logger_node = nullptr

Node used in the YASMIN ROS 2 logs.