Implementation the NodeGraph part of the Node API. More...

#include <node_graph.hpp>

Inheritance diagram for rclcpp::node_interfaces::NodeGraph:

Collaboration diagram for rclcpp::node_interfaces::NodeGraph:

Public Member Functions
	NodeGraph (rclcpp::node_interfaces::NodeBaseInterface *node_base)

virtual	~NodeGraph ()

std::map< std::string, std::vector< std::string > >	get_topic_names_and_types (bool no_demangle=false) const override
	Return a map of existing topic names to list of topic types. More...

std::map< std::string, std::vector< std::string > >	get_service_names_and_types () const override
	Return a map of existing service names to list of service types. More...

std::map< std::string, std::vector< std::string > >	get_service_names_and_types_by_node (const std::string &node_name, const std::string &namespace_) const override
	Return a map of existing service names to list of service types for a specific node. More...

std::vector< std::string >	get_node_names () const override
	Return a vector of existing node names (string). More...

std::vector< std::pair< std::string, std::string > >	get_node_names_and_namespaces () const override
	Return a vector of existing node names and namespaces (pair of string). More...

size_t	count_publishers (const std::string &topic_name) const override
	Return the number of publishers that are advertised on a given topic. More...

size_t	count_subscribers (const std::string &topic_name) const override
	Return the number of subscribers who have created a subscription for a given topic. More...

const rcl_guard_condition_t *	get_graph_guard_condition () const override
	Return the rcl guard condition which is triggered when the ROS graph changes. More...

void	notify_graph_change () override
	Notify threads waiting on graph changes. More...

void	notify_shutdown () override
	Notify any and all blocking node actions that shutdown has occurred. More...

rclcpp::Event::SharedPtr	get_graph_event () override
	Return a graph event, which will be set anytime a graph change occurs. More...

void	wait_for_graph_change (rclcpp::Event::SharedPtr event, std::chrono::nanoseconds timeout) override
	Wait for a graph event to occur by waiting on an Event to become set. More...

size_t	count_graph_users () const override
	Return the number of on loan graph events, see get_graph_event(). More...

std::vector< rclcpp::TopicEndpointInfo >	get_publishers_info_by_topic (const std::string &topic_name, bool no_mangle=false) const override
	Return the topic endpoint information about publishers on a given topic. More...

std::vector< rclcpp::TopicEndpointInfo >	get_subscriptions_info_by_topic (const std::string &topic_name, bool no_mangle=false) const override
	Return the topic endpoint information about subscriptions on a given topic. More...

Public Member Functions inherited from rclcpp::node_interfaces::NodeGraphInterface
virtual	~NodeGraphInterface ()=default

Detailed Description

Implementation the NodeGraph part of the Node API.

Constructor & Destructor Documentation

◆ NodeGraph()

rclcpp::node_interfaces::NodeGraph::NodeGraph ( rclcpp::node_interfaces::NodeBaseInterface * node_base )

explicit

◆ ~NodeGraph()

virtual rclcpp::node_interfaces::NodeGraph::~NodeGraph ( )

virtual

Member Function Documentation

◆ get_topic_names_and_types()

std::map<std::string, std::vector<std::string> > rclcpp::node_interfaces::NodeGraph::get_topic_names_and_types ( bool no_demangle = false ) const

overridevirtual

Return a map of existing topic names to list of topic types.

A topic is considered to exist when at least one publisher or subscriber exists for it, whether they be local or remote to this process. The returned names are the actual names used and do not have remap rules applied.

Parameters

[in] no_demangle if true, topic names and types are not demangled

Implements rclcpp::node_interfaces::NodeGraphInterface.

◆ get_service_names_and_types()

std::map<std::string, std::vector<std::string> > rclcpp::node_interfaces::NodeGraph::get_service_names_and_types ( ) const

overridevirtual

Return a map of existing service names to list of service types.

A service is considered to exist when at least one service server or service client exists for it, whether they be local or remote to this process. The returned names are the actual names used and do not have remap rules applied.

Implements rclcpp::node_interfaces::NodeGraphInterface.

◆ get_service_names_and_types_by_node()

std::map<std::string, std::vector<std::string> > rclcpp::node_interfaces::NodeGraph::get_service_names_and_types_by_node	(	const std::string &	node_name,
		const std::string &	namespace_
	)		const

overridevirtual

Return a map of existing service names to list of service types for a specific node.

This function only considers services - not clients. The returned names are the actual names used and do not have remap rules applied.

Parameters

[in]	node_name	name of the node
[in]	namespace_	namespace of the node

Implements rclcpp::node_interfaces::NodeGraphInterface.

◆ get_node_names()

std::vector<std::string> rclcpp::node_interfaces::NodeGraph::get_node_names ( ) const

overridevirtual

Return a vector of existing node names (string).

Implements rclcpp::node_interfaces::NodeGraphInterface.

◆ get_node_names_and_namespaces()

std::vector<std::pair<std::string, std::string> > rclcpp::node_interfaces::NodeGraph::get_node_names_and_namespaces ( ) const

overridevirtual

Return a vector of existing node names and namespaces (pair of string).

Implements rclcpp::node_interfaces::NodeGraphInterface.

◆ count_publishers()

size_t rclcpp::node_interfaces::NodeGraph::count_publishers ( const std::string & topic_name ) const

overridevirtual

Return the number of publishers that are advertised on a given topic.

Implements rclcpp::node_interfaces::NodeGraphInterface.

◆ count_subscribers()

size_t rclcpp::node_interfaces::NodeGraph::count_subscribers ( const std::string & topic_name ) const

overridevirtual

Return the number of subscribers who have created a subscription for a given topic.

Implements rclcpp::node_interfaces::NodeGraphInterface.

◆ get_graph_guard_condition()

const rcl_guard_condition_t* rclcpp::node_interfaces::NodeGraph::get_graph_guard_condition ( ) const

overridevirtual

Return the rcl guard condition which is triggered when the ROS graph changes.

Implements rclcpp::node_interfaces::NodeGraphInterface.

◆ notify_graph_change()

void rclcpp::node_interfaces::NodeGraph::notify_graph_change ( )

overridevirtual

Notify threads waiting on graph changes.

Affects threads waiting on the notify guard condition, see: get_notify_guard_condition(), as well as the threads waiting on graph changes using a graph Event, see: wait_for_graph_change().

This is typically only used by the rclcpp::graph_listener::GraphListener.

Exceptions

RCLBaseError (a child of that exception) when an rcl error occurs

Implements rclcpp::node_interfaces::NodeGraphInterface.

◆ notify_shutdown()

void rclcpp::node_interfaces::NodeGraph::notify_shutdown ( )

overridevirtual

Notify any and all blocking node actions that shutdown has occurred.

Implements rclcpp::node_interfaces::NodeGraphInterface.

◆ get_graph_event()

rclcpp::Event::SharedPtr rclcpp::node_interfaces::NodeGraph::get_graph_event ( )

overridevirtual

Return a graph event, which will be set anytime a graph change occurs.

The graph Event object is a loan which must be returned. The Event object is scoped and therefore to return the load just let it go out of scope.

Implements rclcpp::node_interfaces::NodeGraphInterface.

◆ wait_for_graph_change()

void rclcpp::node_interfaces::NodeGraph::wait_for_graph_change	(	rclcpp::Event::SharedPtr	event,
		std::chrono::nanoseconds	timeout
	)

overridevirtual

Wait for a graph event to occur by waiting on an Event to become set.

The given Event must be acquire through the get_graph_event() method.

Exceptions

InvalidEventError	if the given event is nullptr
EventNotRegisteredError	if the given event was not acquired with get_graph_event().

Implements rclcpp::node_interfaces::NodeGraphInterface.

◆ count_graph_users()

size_t rclcpp::node_interfaces::NodeGraph::count_graph_users ( ) const

overridevirtual

Return the number of on loan graph events, see get_graph_event().

This is typically only used by the rclcpp::graph_listener::GraphListener.

Implements rclcpp::node_interfaces::NodeGraphInterface.

◆ get_publishers_info_by_topic()

std::vector<rclcpp::TopicEndpointInfo> rclcpp::node_interfaces::NodeGraph::get_publishers_info_by_topic	(	const std::string &	topic_name,
		bool	no_mangle = `false`
	)		const

overridevirtual

Return the topic endpoint information about publishers on a given topic.

Parameters

[in] topic_name the actual topic name used; it will not be automatically remapped.

See also: rclcpp::Node::get_publishers_info_by_topic

Implements rclcpp::node_interfaces::NodeGraphInterface.

◆ get_subscriptions_info_by_topic()

std::vector<rclcpp::TopicEndpointInfo> rclcpp::node_interfaces::NodeGraph::get_subscriptions_info_by_topic	(	const std::string &	topic_name,
		bool	no_mangle = `false`
	)		const

overridevirtual

Return the topic endpoint information about subscriptions on a given topic.

Parameters

[in] topic_name the actual topic name used; it will not be automatically remapped.

See also: rclcpp::Node::get_subscriptions_info_by_topic

Implements rclcpp::node_interfaces::NodeGraphInterface.

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

include/rclcpp/node_interfaces/node_graph.hpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ NodeGraph()

◆ ~NodeGraph()

Member Function Documentation

◆ get_topic_names_and_types()

◆ get_service_names_and_types()

◆ get_service_names_and_types_by_node()

◆ get_node_names()

◆ get_node_names_and_namespaces()

◆ count_publishers()

◆ count_subscribers()

◆ get_graph_guard_condition()

◆ notify_graph_change()

◆ notify_shutdown()

◆ get_graph_event()

◆ wait_for_graph_change()

◆ count_graph_users()

◆ get_publishers_info_by_topic()

◆ get_subscriptions_info_by_topic()