Package edu.tufts.hrilab.ros2

Class Ros2Node

java.lang.Object

edu.tufts.hrilab.ros2.Ros2Node

Direct Known Subclasses:

JRosClientNode

public abstract class Ros2Node
extends Object

Todo: Remove service dependencies

Field Summary

Fields

Modifier and Type	Field	Description
protected Map<String,pinorobotics.jros2actionlib.JRos2ActionClient<?,?>>	actionList	Tracks all the services on this node, and their associated names //TODO: Make generic
protected static org.slf4j.Logger	log
protected Map<Ros2Publisher<?>,Integer>	publisherList	Tracks all the publishers on this node, and their remaining iterations.
protected Map<String,pinorobotics.jros2services.JRos2ServiceClient<?,?>>	serviceList	Tracks all the services on this node, and their associated names //TODO: Make generic

Constructor Summary

Constructors

Constructor	Description
Ros2Node()

Method Summary

Modifier and Type	Method	Description
abstract <GOAL extends id.jrosmessages.Message, RES extends id.jrosmessages.Message, DEF extends pinorobotics.jros2actionlib.actionlib_msgs.Action2Definition<GOAL, RES>> void	addAction(DEF def, String actionName)
abstract void	addAndStartPublisher(Ros2Publisher<?> pub)	Convenience method to add and start a publisher indefinitely.
abstract void	addAndStartPublisher(Ros2Publisher<?> pub, Integer iters)	Conveinece method to add and start a publisher for the given number of iterations.
abstract void	addAndStartSubscriber(Ros2Subscriber<?> sub)	Adds the specified subscriber to the node.
abstract void	addPublisher(Ros2Publisher<?> pub)	Adds the specified publisher to the node.
abstract <REQ extends id.jrosmessages.Message, RES extends id.jrosmessages.Message, DEF extends pinorobotics.jrosservices.msgs.ServiceDefinition<REQ, RES>> void	addService(DEF definition, String serviceName)	Creates a service...
abstract <GOAL extends id.jrosmessages.Message, RES extends id.jrosmessages.Message> RES	callAction(String actionName, GOAL goal)
abstract <REQ extends id.jrosmessages.Message, RES extends id.jrosmessages.Message> RES	callService(String serviceName, REQ message)
abstract void	createTf()
void	end()	Spins down the node.
abstract javax.vecmath.Matrix4d	lookupTransform(String from, String to)
abstract void	oneTimePublish(Ros2Publisher<?> pub)	Convenience method to publish a message one time for a given publisher.
abstract void	removePublisher(Ros2Publisher<?> pub)	Stops and removes the publisher from the node.
abstract void	removeSubscriber(Ros2Subscriber<?> sub)	Removes the specified subscriber from the node.
void	spin()	Spins the node up at the default rate of 1.
void	spin(Integer rate)	Spins the node up at the specified rate.
abstract void	startPublisher(Ros2Publisher<?> pub)	Starts publishing the specified publisher indefinitely (assuming node is spinning).
abstract void	startPublisher(Ros2Publisher<?> pub, Integer iters)	Starts publishing the specified publisher for the given iterations (assuming node is pinning).
abstract void	stopPublisher(Ros2Publisher<?> pub)	Stops the given publisher from publishing.

Methods inherited from class java.lang.Object

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

Field Details

log

protected static org.slf4j.Logger log

publisherList

protected Map<Ros2Publisher<?>,Integer> publisherList

Tracks all the publishers on this node, and their remaining iterations. Value is -1 for indefinite iterations.

serviceList

protected Map<String,pinorobotics.jros2services.JRos2ServiceClient<?,?>> serviceList

Tracks all the services on this node, and their associated names //TODO: Make generic

actionList

protected Map<String,pinorobotics.jros2actionlib.JRos2ActionClient<?,?>> actionList

Tracks all the services on this node, and their associated names //TODO: Make generic

Constructor Details

Ros2Node

public Ros2Node()

Method Details

spin

public void spin()

Spins the node up at the default rate of 1.

See Also:

• spin(Integer)

spin

public void spin(Integer rate)

Spins the node up at the specified rate. All publishers publish at this rate.

Parameters:

rate - Rate at which publishers are published.

end

public void end()

Spins down the node. All publishers will stop publishing.

addAndStartSubscriber

public abstract void addAndStartSubscriber(Ros2Subscriber<?> sub)

Adds the specified subscriber to the node. Immediately starts listening.

Parameters:

sub - Subscriber to add to the node.

removeSubscriber

public abstract void removeSubscriber(Ros2Subscriber<?> sub)

Removes the specified subscriber from the node. TODO: Currently no jrosclient functionality for this.

Parameters:

sub - Subscriber to remove from the node.

addPublisher

public abstract void addPublisher(Ros2Publisher<?> pub)

Adds the specified publisher to the node. Does not start publishing until the publisher is started.

Parameters:

pub - Publisher to add to the node.

startPublisher

public abstract void startPublisher(Ros2Publisher<?> pub)

Starts publishing the specified publisher indefinitely (assuming node is spinning). The node must have been added to the node.

Parameters:

pub - Existing publisher to be started

startPublisher

public abstract void startPublisher(Ros2Publisher<?> pub,
 Integer iters)

Starts publishing the specified publisher for the given iterations (assuming node is pinning). The node must have been added to the node.

Parameters:

pub - Existing publisher to be started

iters - Iterations the publisher publishes for

oneTimePublish

public abstract void oneTimePublish(Ros2Publisher<?> pub)

Convenience method to publish a message one time for a given publisher. Removed after use.

Parameters:

pub - Publisher to publish once

addAndStartPublisher

public abstract void addAndStartPublisher(Ros2Publisher<?> pub)

Convenience method to add and start a publisher indefinitely.

Parameters:

pub - Publisher to be added and started

See Also:

• addPublisher(Ros2Publisher)
• startPublisher(Ros2Publisher)

addAndStartPublisher

public abstract void addAndStartPublisher(Ros2Publisher<?> pub,
 Integer iters)

Conveinece method to add and start a publisher for the given number of iterations.

Parameters:

pub - Publisher to be added and started

iters - Number of iterations to publish for

See Also:

• addPublisher(Ros2Publisher)
• startPublisher(Ros2Publisher, Integer)

stopPublisher

public abstract void stopPublisher(Ros2Publisher<?> pub)

Stops the given publisher from publishing. Can be started again.

Parameters:

pub - Publisher to be stopped.

removePublisher

public abstract void removePublisher(Ros2Publisher<?> pub)

Stops and removes the publisher from the node. must be re-added to start again.

Parameters:

pub - Publisher to be stopped and removed

addService

public abstract <REQ extends id.jrosmessages.Message,
RES extends id.jrosmessages.Message,
DEF extends pinorobotics.jrosservices.msgs.ServiceDefinition<REQ,
RES>>
void addService(DEF definition,
 String serviceName)

Creates a service... This is definition is a nightmare. Should we just let users make this manually?

Type Parameters:

REQ -

RES -

DEF -

Parameters:

definition -

callService

public abstract <REQ extends id.jrosmessages.Message,
RES extends id.jrosmessages.Message>
RES callService(String serviceName,
 REQ message)

createTf

public abstract void createTf()

lookupTransform

public abstract javax.vecmath.Matrix4d lookupTransform(String from,
 String to)

addAction

public abstract <GOAL extends id.jrosmessages.Message,
RES extends id.jrosmessages.Message,
DEF extends pinorobotics.jros2actionlib.actionlib_msgs.Action2Definition<GOAL,
RES>>
void addAction(DEF def,
 String actionName)

callAction

public abstract <GOAL extends id.jrosmessages.Message,
RES extends id.jrosmessages.Message>
RES callAction(String actionName,
 GOAL goal)