modulo_core::communication Namespace Reference

Modulo Core communication module for handling messages on publication and subscription interfaces. More...

Classes
class	MessagePair
	The MessagePair stores a pointer to a variable and translates the value of this pointer back and forth between the corresponding ROS messages. More...
class	MessagePairInterface
	Interface class to enable non-templated writing and reading ROS messages from derived MessagePair instances through dynamic down-casting. More...
class	PublisherHandler
	The PublisherHandler handles different types of ROS publishers to activate, deactivate and publish data with those publishers. More...
class	PublisherInterface
	Interface class to enable non-templated activating/deactivating/publishing of ROS publishers from derived PublisherHandler instances through dynamic down-casting. More...
class	SubscriptionHandler
	The SubscriptionHandler handles different types of ROS subscriptions to receive data from those subscriptions. More...
class	SubscriptionInterface
	Interface class to enable non-templated subscriptions with ROS subscriptions from derived SubscriptionHandler instances through dynamic down-casting. More...

Enumerations
enum class	MessageType {   BOOL , FLOAT64 , FLOAT64_MULTI_ARRAY , INT32 ,   STRING , ENCODED_STATE , CUSTOM_MESSAGE }
	Enum of all supported ROS message types for the MessagePairInterface. More...
enum class	PublisherType { PUBLISHER , LIFECYCLE_PUBLISHER }
	Enum of supported ROS publisher types for the PublisherInterface. More...

Functions
template<concepts::CoreDataT DataT>
std::shared_ptr< MessagePairInterface >	make_shared_message_pair (const std::shared_ptr< DataT > &data, const std::shared_ptr< rclcpp::Clock > &clock)
template<typename DataT = bool>
std::shared_ptr< MessagePairInterface >	make_shared_message_pair (const std::shared_ptr< bool > &data, const std::shared_ptr< rclcpp::Clock > &clock)
template<typename DataT = double>
std::shared_ptr< MessagePairInterface >	make_shared_message_pair (const std::shared_ptr< double > &data, const std::shared_ptr< rclcpp::Clock > &clock)
template<typename DataT = std::vector<double>>
std::shared_ptr< MessagePairInterface >	make_shared_message_pair (const std::shared_ptr< std::vector< double > > &data, const std::shared_ptr< rclcpp::Clock > &clock)
template<typename DataT = int>
std::shared_ptr< MessagePairInterface >	make_shared_message_pair (const std::shared_ptr< int > &data, const std::shared_ptr< rclcpp::Clock > &clock)
template<typename DataT = std::string>
std::shared_ptr< MessagePairInterface >	make_shared_message_pair (const std::shared_ptr< std::string > &data, const std::shared_ptr< rclcpp::Clock > &clock)

Detailed Description

Modulo Core communication module for handling messages on publication and subscription interfaces.

Enumeration Type Documentation

MessageType

enum class modulo_core::communication::MessageType

strong

Enum of all supported ROS message types for the MessagePairInterface.

See also

MessagePairInterface

Definition at line 13 of file MessageType.hpp.

PublisherType

enum class modulo_core::communication::PublisherType

strong

Enum of supported ROS publisher types for the PublisherInterface.

See also

PublisherInterface

Definition at line 9 of file PublisherType.hpp.

Function Documentation

make_shared_message_pair() [1/6]

template<typename DataT = bool>

std::shared_ptr< MessagePairInterface > modulo_core::communication::make_shared_message_pair ( const std::shared_ptr< bool > &  data, const std::shared_ptr< rclcpp::Clock > &  clock  )

inline

Definition at line 205 of file MessagePair.hpp.

make_shared_message_pair() [2/6]

template<concepts::CoreDataT DataT>

std::shared_ptr< MessagePairInterface > modulo_core::communication::make_shared_message_pair ( const std::shared_ptr< DataT > &  data, const std::shared_ptr< rclcpp::Clock > &  clock  )

inline

Definition at line 192 of file MessagePair.hpp.

make_shared_message_pair() [3/6]

template<typename DataT = double>

std::shared_ptr< MessagePairInterface > modulo_core::communication::make_shared_message_pair ( const std::shared_ptr< double > &  data, const std::shared_ptr< rclcpp::Clock > &  clock  )

inline

Definition at line 211 of file MessagePair.hpp.

make_shared_message_pair() [4/6]

template<typename DataT = int>

std::shared_ptr< MessagePairInterface > modulo_core::communication::make_shared_message_pair ( const std::shared_ptr< int > &  data, const std::shared_ptr< rclcpp::Clock > &  clock  )

inline

Definition at line 223 of file MessagePair.hpp.

make_shared_message_pair() [5/6]

template<typename DataT = std::string>

std::shared_ptr< MessagePairInterface > modulo_core::communication::make_shared_message_pair ( const std::shared_ptr< std::string > &  data, const std::shared_ptr< rclcpp::Clock > &  clock  )

inline

Definition at line 229 of file MessagePair.hpp.

make_shared_message_pair() [6/6]

template<typename DataT = std::vector<double>>

std::shared_ptr< MessagePairInterface > modulo_core::communication::make_shared_message_pair ( const std::shared_ptr< std::vector< double > > &  data, const std::shared_ptr< rclcpp::Clock > &  clock  )

inline

Definition at line 216 of file MessagePair.hpp.