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
void	log_timestamp (const rclcpp::Time &stamp)
	Set the timeline time for this message.

std::optional< std::string >	resolve_entity_path (const std::string &frame_id, bool include_topic=true) const
	Resolve an entity path from the given frame ID.

void	log_warning_for_missing_entity (const std::string &frame_id) const
	Log a standard warning for missing entity paths.

void	log_warning_text (const std::string &message) const
	Log a standard warning for missing entity paths.

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 Member Functions inherited from awviz_common::Display
void	set_state (DisplayState state)

DisplayState	state () const

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.

DisplayState	state_ {DisplayState::kCreated}
	Lifecycle state of the display.

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 True if the display state is not DisplayState::kCreated (i.e., after initialize() has been successfully called).

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.

◆ log_timestamp()

template<typename MsgType >

void awviz_common::RosTopicDisplay< MsgType >::log_timestamp ( const rclcpp::Time & stamp )

inlineprotected

Set the timeline time for this message.

Parameters

stamp Message timestamp.

◆ log_warning_for_missing_entity()

template<typename MsgType >

void awviz_common::RosTopicDisplay< MsgType >::log_warning_for_missing_entity ( const std::string & frame_id ) const

inlineprotected

Log a standard warning for missing entity paths.

Parameters

frame_id Frame ID that failed to resolve.

◆ log_warning_text()

template<typename MsgType >

void awviz_common::RosTopicDisplay< MsgType >::log_warning_text ( const std::string & message ) const

inlineprotected

Log a standard warning for missing entity paths.

Parameters

message Warning message.

◆ resolve_entity_path()

template<typename MsgType >

std::optional< std::string > awviz_common::RosTopicDisplay< MsgType >::resolve_entity_path	(	const std::string &	frame_id,
		bool	include_topic = `true`
	)		const

inlineprotected

Resolve an entity path from the given frame ID.

Parameters

frame_id	Frame ID to resolve.
include_topic	If true, append the topic name to the entity root.

Returns: Resolved entity path or std::nullopt if not found.

◆ 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.

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

awviz_common/include/awviz_common/display.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ RosTopicDisplay()

◆ ~RosTopicDisplay()

Member Function Documentation

◆ end()

◆ initialize()

◆ is_initialized()

◆ log_message()

◆ log_timestamp()

◆ log_warning_for_missing_entity()

◆ log_warning_text()

◆ resolve_entity_path()

◆ set_property()

◆ start()

◆ subscribe()

◆ unsubscribe()

Member Data Documentation

◆ property_

◆ subscription_

◆ TIMELINE_NAME