awviz_common::RosTopicDisplay< MsgType > Class Template Reference

Inherited plugin class to display ROS topics. More...

#include <display.hpp>

Inheritance diagram for awviz_common::RosTopicDisplay< MsgType >:

Public Member Functions
	RosTopicDisplay ()
	Construct an instance.
	~RosTopicDisplay () override
	Destruct an instance.
void	initialize (rclcpp::Node::SharedPtr node, std::shared_ptr< rerun::RecordingStream > stream) override
	Initialize the instance specifying the root ROS node and recording stream.
void	set_property (const std::string &topic, const std::shared_ptr< std::unordered_map< std::string, std::string > > entity_roots) override
	Set status of attributes.
void	start () override
	Start to display.
void	end () override
	End to display.
bool	is_initialized () const override
	Return true if the initialization is completed.
Public Member Functions inherited from awviz_common::Display
	Display ()=default
virtual	~Display ()=default
virtual void	initialize (rclcpp::Node::SharedPtr node, std::shared_ptr< rerun::RecordingStream > stream)=0
	Initialize attributes.
virtual void	set_property (const std::string &topic, const std::shared_ptr< std::unordered_map< std::string, std::string > > entity_roots)=0
	Set attributes of property.
virtual void	start ()=0
	Start to display.
virtual void	end ()=0
	End to display.
virtual bool	is_initialized () const
	Return true if the initialization is completed.

Protected Member Functions
virtual void	subscribe ()
	Start to subscribing the specified topic.
virtual void	unsubscribe ()
	End to subscribing the topic.
virtual void	log_message (typename MsgType::ConstSharedPtr msg)=0
	Log subscribed ROS message to recording stream.

Protected Attributes
rclcpp::Subscription< MsgType >::SharedPtr	subscription_
	Subscription of the topic.
RosTopicProperty	property_
	Topic property.
Protected Attributes inherited from awviz_common::Display
rclcpp::Node::SharedPtr	node_
	Node shared pointer.
std::shared_ptr< rerun::RecordingStream >	stream_
	RecordingStream shared pointer.
bool	is_initialized_
	Whether the object has been initialized.

Static Protected Attributes
static constexpr const char *	TIMELINE_NAME = "timestamp"
	Entity name of timeline record.

Detailed Description

template<typename MsgType>
class awviz_common::RosTopicDisplay< MsgType >

Inherited plugin class to display ROS topics.

Constructor & Destructor Documentation

RosTopicDisplay()

template<typename MsgType >

awviz_common::RosTopicDisplay< MsgType >::RosTopicDisplay ( )

inline

Construct an instance.

~RosTopicDisplay()

template<typename MsgType >

awviz_common::RosTopicDisplay< MsgType >::~RosTopicDisplay ( )

inlineoverride

Destruct an instance.

Member Function Documentation

end()

template<typename MsgType >

void awviz_common::RosTopicDisplay< MsgType >::end ( )

inlineoverridevirtual

End to display.

Implements awviz_common::Display.

initialize()

template<typename MsgType >

void awviz_common::RosTopicDisplay< MsgType >::initialize ( rclcpp::Node::SharedPtr  node, std::shared_ptr< rerun::RecordingStream >  stream  )

inlineoverridevirtual

Initialize the instance specifying the root ROS node and recording stream.

Parameters

node	Root ROS node.
stream	Recording stream.

Implements awviz_common::Display.

is_initialized()

template<typename MsgType >

bool awviz_common::RosTopicDisplay< MsgType >::is_initialized ( ) const

inlineoverridevirtual

Return true if the initialization is completed.

Returns

bool Return the value of the private member named is_initialized_.

Reimplemented from awviz_common::Display.

log_message()

template<typename MsgType >

virtual void awviz_common::RosTopicDisplay< MsgType >::log_message ( typename MsgType::ConstSharedPtr  msg )

protectedpure virtual

Log subscribed ROS message to recording stream.

Parameters

msg	Constant shared pointer of ROS message.

Note

Currently, if the corresponding entity path doesn't exist this just logs warning as text.

set_property()

template<typename MsgType >

void awviz_common::RosTopicDisplay< MsgType >::set_property ( const std::string &  topic, const std::shared_ptr< std::unordered_map< std::string, std::string > >  entity_roots  )

inlineoverridevirtual

Set status of attributes.

Parameters

topic	Name of topic.
entity	Entity path of the record.

Implements awviz_common::Display.

start()

template<typename MsgType >

void awviz_common::RosTopicDisplay< MsgType >::start ( )

inlineoverridevirtual

Start to display.

Implements awviz_common::Display.

subscribe()

template<typename MsgType >

virtual void awviz_common::RosTopicDisplay< MsgType >::subscribe ( )

inlineprotectedvirtual

Start to subscribing the specified topic.

Todo:

Currently, rclcpp::SensorDataQoS is used for QoS profile setting.

unsubscribe()

template<typename MsgType >

virtual void awviz_common::RosTopicDisplay< MsgType >::unsubscribe ( )

inlineprotectedvirtual

End to subscribing the topic.

Member Data Documentation

property_

template<typename MsgType >

RosTopicProperty awviz_common::RosTopicDisplay< MsgType >::property_

protected

Topic property.

subscription_

template<typename MsgType >

rclcpp::Subscription<MsgType>::SharedPtr awviz_common::RosTopicDisplay< MsgType >::subscription_

protected

Subscription of the topic.

TIMELINE_NAME

template<typename MsgType >

constexpr const char* awviz_common::RosTopicDisplay< MsgType >::TIMELINE_NAME = "timestamp"

staticconstexprprotected

Entity name of timeline record.

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

• awviz_common/include/awviz_common/display.hpp