Package edu.tufts.hrilab.ros2

Class Ros2Factory

java.lang.Object

edu.tufts.hrilab.ros2.Ros2Factory

public class Ros2Factory
extends Object

Factory class to allow users to generate ROS 2 objects without needing to know a specific underlying implementation. The main purpose of this class is so we can implement different ROS2 Java implementations without changing classes that use ROS2

Constructor Summary

Constructors

Constructor	Description
Ros2Factory()

Method Summary

Modifier and Type	Method	Description
static Ros2Node	getDefaultNode()	Returns an instance of a Ros2 Node with the default implementation
static Ros2Node	getDefaultNode(int domainId)
static <T extends id.jrosmessages.Message> Ros2Publisher<T>	getDefaultPublisher(Class<T> messageType, String topicName)	Returns an instance of a Ros2 publisher with the default implementation
static <T extends id.jrosmessages.Message> Ros2Publisher<T>	getDefaultPublisher(Class<T> messageType, String topicName, T msg)	Returns an instance of a Ros2 Node with the default implementation, with a pre-initialized message.
static <T extends id.jrosmessages.Message> Ros2Subscriber<T>	getDefaultSubscriber(Class<T> messageType, String topic, SubscriberCallback<T> callback)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

Ros2Factory

public Ros2Factory()

Method Details

getDefaultNode

public static Ros2Node getDefaultNode()

Returns an instance of a Ros2 Node with the default implementation

Returns:

Generic Ros2 Node

getDefaultNode

public static Ros2Node getDefaultNode(int domainId)

Parameters:

domainId - Domain ID to create the node in

Returns:

Generic Ros2 Node

See Also:

• getDefaultNode()

getDefaultPublisher

public static <T extends id.jrosmessages.Message>
Ros2Publisher<T> getDefaultPublisher(Class<T> messageType,
 String topicName)

Returns an instance of a Ros2 publisher with the default implementation

Type Parameters:

T - Message type

Parameters:

messageType - Type of the message this publisher will publish, e.g. StringMessage

topicName - Topic on which to publish

Returns:

Generic ROS2 Publisher

getDefaultPublisher

public static <T extends id.jrosmessages.Message>
Ros2Publisher<T> getDefaultPublisher(Class<T> messageType,
 String topicName,
 T msg)

Returns an instance of a Ros2 Node with the default implementation, with a pre-initialized message.

Type Parameters:

T - Message type

Parameters:

messageType - Type of the message this publisher will publish, e.g. StringMessage

topicName - Topic on which to publish

msg - Initialized message to publish

Returns:

Generic ROS2 Publisher

getDefaultSubscriber

public static <T extends id.jrosmessages.Message>
Ros2Subscriber<T> getDefaultSubscriber(Class<T> messageType,
 String topic,
 SubscriberCallback<T> callback)

Type Parameters:

T - Message type

Parameters:

messageType - Type of the message this publisher will publish, e.g. StringMessage

topic - Topic on which to publish

callback - Function to execute on received message

Returns:

Generic ROS2 Subscriber