Pure virtual interface class for the NodeGraph part of the Node API. More...

#include <rclcpp/node_interfaces/node_graph_interface.hpp>

Inheritance diagram for rclcpp::node_interfaces::NodeGraphInterface:

Public Member Functions
virtual RCLCPP_PUBLIC std::map< std::string, std::vector< std::string > >	get_topic_names_and_types (bool no_demangle=false) const =0
	Return a map of existing topic names to list of topic types. More...

virtual RCLCPP_PUBLIC std::map< std::string, std::vector< std::string > >	get_service_names_and_types () const =0
	Return a map of existing service names to list of service types. More...

virtual RCLCPP_PUBLIC std::map< std::string, std::vector< std::string > >	get_service_names_and_types_by_node (const std::string &node_name, const std::string &namespace_) const =0
	Return a map of existing service names to list of service types for a specific node. More...

virtual RCLCPP_PUBLIC std::map< std::string, std::vector< std::string > >	get_client_names_and_types_by_node (const std::string &node_name, const std::string &namespace_) const =0
	Return a map of existing service names and types with a specific node. More...

virtual RCLCPP_PUBLIC std::map< std::string, std::vector< std::string > >	get_publisher_names_and_types_by_node (const std::string &node_name, const std::string &namespace_, bool no_demangle=false) const =0
	Return a map of existing topic names to list of topic types for a specific node. More...

virtual RCLCPP_PUBLIC std::map< std::string, std::vector< std::string > >	get_subscriber_names_and_types_by_node (const std::string &node_name, const std::string &namespace_, bool no_demangle=false) const =0
	Return a map of existing topic names to list of topic types for a specific node. More...

virtual RCLCPP_PUBLIC std::vector< std::string >	get_node_names () const =0
	Return a vector of existing node names (string).

virtual RCLCPP_PUBLIC std::vector< std::tuple< std::string, std::string, std::string > >	get_node_names_with_enclaves () const =0
	Return a vector of existing node names, namespaces and enclaves (tuple of string).

virtual RCLCPP_PUBLIC std::vector< std::pair< std::string, std::string > >	get_node_names_and_namespaces () const =0
	Return a vector of existing node names and namespaces (pair of string).

virtual RCLCPP_PUBLIC size_t	count_publishers (const std::string &topic_name) const =0
	Return the number of publishers that are advertised on a given topic.

virtual RCLCPP_PUBLIC size_t	count_subscribers (const std::string &topic_name) const =0
	Return the number of subscribers who have created a subscription for a given topic.

virtual RCLCPP_PUBLIC size_t	count_clients (const std::string &service_name) const =0
	Return the number of clients created for a given service.

virtual RCLCPP_PUBLIC size_t	count_services (const std::string &service_name) const =0
	Return the number of services created for a given service.

virtual RCLCPP_PUBLIC const rcl_guard_condition_t *	get_graph_guard_condition () const =0
	Return the rcl guard condition which is triggered when the ROS graph changes.

virtual RCLCPP_PUBLIC void	notify_graph_change ()=0
	Notify threads waiting on graph changes. More...

virtual RCLCPP_PUBLIC void	notify_shutdown ()=0
	Notify any and all blocking node actions that shutdown has occurred.

virtual RCLCPP_PUBLIC rclcpp::Event::SharedPtr	get_graph_event ()=0
	Return a graph event, which will be set anytime a graph change occurs. More...

virtual RCLCPP_PUBLIC void	wait_for_graph_change (rclcpp::Event::SharedPtr event, std::chrono::nanoseconds timeout)=0
	Wait for a graph event to occur by waiting on an Event to become set. More...

virtual RCLCPP_PUBLIC size_t	count_graph_users () const =0
	Return the number of on loan graph events, see get_graph_event(). More...

virtual RCLCPP_PUBLIC std::vector< rclcpp::TopicEndpointInfo >	get_publishers_info_by_topic (const std::string &topic_name, bool no_mangle=false) const =0
	Return the topic endpoint information about publishers on a given topic. More...

virtual RCLCPP_PUBLIC std::vector< rclcpp::TopicEndpointInfo >	get_subscriptions_info_by_topic (const std::string &topic_name, bool no_mangle=false) const =0
	Return the topic endpoint information about subscriptions on a given topic. More...

Detailed Description

Pure virtual interface class for the NodeGraph part of the Node API.

Definition at line 150 of file node_graph_interface.hpp.

Member Function Documentation

◆ count_graph_users()

virtual RCLCPP_PUBLIC size_t rclcpp::node_interfaces::NodeGraphInterface::count_graph_users ( ) const

pure virtual

Return the number of on loan graph events, see get_graph_event().

This is typically only used by the rclcpp::graph_listener::GraphListener.

Implemented in rclcpp::node_interfaces::NodeGraph.

◆ get_client_names_and_types_by_node()

virtual RCLCPP_PUBLIC std::map<std::string, std::vector<std::string> > rclcpp::node_interfaces::NodeGraphInterface::get_client_names_and_types_by_node	(	const std::string &	node_name,
		const std::string &	namespace_
	)		const

pure virtual

Return a map of existing service names and types with a specific node.

This function only considers clients - not service servers. The returned names are the actual names after remap rules applied. Attempting to create service servers using names returned by this function may not result in the desired service name being used depending on the remap rules in use.

Parameters

[in]	node_name	name of the node
[in]	namespace_	namespace of the node

Implemented in rclcpp::node_interfaces::NodeGraph.

◆ get_graph_event()

virtual RCLCPP_PUBLIC rclcpp::Event::SharedPtr rclcpp::node_interfaces::NodeGraphInterface::get_graph_event ( )

pure virtual

Return a graph event, which will be set anytime a graph change occurs.

The graph Event object is a loan which must be returned. The Event object is scoped and therefore to return the load just let it go out of scope.

Implemented in rclcpp::node_interfaces::NodeGraph.

◆ get_publisher_names_and_types_by_node()

virtual RCLCPP_PUBLIC std::map<std::string, std::vector<std::string> > rclcpp::node_interfaces::NodeGraphInterface::get_publisher_names_and_types_by_node	(	const std::string &	node_name,
		const std::string &	namespace_,
		bool	no_demangle = `false`
	)		const

pure virtual

Return a map of existing topic names to list of topic types for a specific node.

This function only considers publishers - not subscribers. The returned names are the actual names after remap rules applied. Attempting to create publishers or subscribers using names returned by this function may not result in the desired topic name being used depending on the remap rules in use.

Parameters

[in]	node_name	name of the node
[in]	namespace_	namespace of the node
[in]	no_demangle	if true, topic names and types are not demangled

Implemented in rclcpp::node_interfaces::NodeGraph.

◆ get_publishers_info_by_topic()

virtual RCLCPP_PUBLIC std::vector<rclcpp::TopicEndpointInfo> rclcpp::node_interfaces::NodeGraphInterface::get_publishers_info_by_topic	(	const std::string &	topic_name,
		bool	no_mangle = `false`
	)		const

pure virtual

Return the topic endpoint information about publishers on a given topic.

Parameters

[in]	topic_name	the actual topic name used; it will not be automatically remapped.
[in]	no_mangle	if `true`, `topic_name` needs to be a valid middleware topic name, otherwise it should be a valid ROS topic name.

See also: rclcpp::Node::get_publishers_info_by_topic

Implemented in rclcpp::node_interfaces::NodeGraph.

◆ get_service_names_and_types()

virtual RCLCPP_PUBLIC std::map<std::string, std::vector<std::string> > rclcpp::node_interfaces::NodeGraphInterface::get_service_names_and_types ( ) const

pure virtual

Return a map of existing service names to list of service types.

A service is considered to exist when at least one service server or service client exists for it, whether they be local or remote to this process. The returned names are the actual names of the services, either announced by another nodes or by this one. Attempting to create clients or services using names returned by this function may not result in the desired service name being used depending on the remap rules in use.

Implemented in rclcpp::node_interfaces::NodeGraph.

◆ get_service_names_and_types_by_node()

virtual RCLCPP_PUBLIC std::map<std::string, std::vector<std::string> > rclcpp::node_interfaces::NodeGraphInterface::get_service_names_and_types_by_node	(	const std::string &	node_name,
		const std::string &	namespace_
	)		const

pure virtual

Return a map of existing service names to list of service types for a specific node.

This function only considers services - not clients. The returned names are the actual names after remap rules applied. Attempting to create service clients using names returned by this function may not result in the desired service name being used depending on the remap rules in use.

Parameters

[in]	node_name	name of the node
[in]	namespace_	namespace of the node

Implemented in rclcpp::node_interfaces::NodeGraph.

◆ get_subscriber_names_and_types_by_node()

virtual RCLCPP_PUBLIC std::map<std::string, std::vector<std::string> > rclcpp::node_interfaces::NodeGraphInterface::get_subscriber_names_and_types_by_node	(	const std::string &	node_name,
		const std::string &	namespace_,
		bool	no_demangle = `false`
	)		const

pure virtual

Return a map of existing topic names to list of topic types for a specific node.

This function only considers subscribers - not publishers. The returned names are the actual names after remap rules applied. Attempting to create publishers or subscribers using names returned by this function may not result in the desired topic name being used depending on the remap rules in use.

Parameters

[in]	node_name	name of the node
[in]	namespace_	namespace of the node
[in]	no_demangle	if true, topic names and types are not demangled

Implemented in rclcpp::node_interfaces::NodeGraph.

◆ get_subscriptions_info_by_topic()

virtual RCLCPP_PUBLIC std::vector<rclcpp::TopicEndpointInfo> rclcpp::node_interfaces::NodeGraphInterface::get_subscriptions_info_by_topic	(	const std::string &	topic_name,
		bool	no_mangle = `false`
	)		const

pure virtual

Return the topic endpoint information about subscriptions on a given topic.

Parameters

[in]	topic_name	the actual topic name used; it will not be automatically remapped.
[in]	no_mangle	if `true`, `topic_name` needs to be a valid middleware topic name, otherwise it should be a valid ROS topic name.

See also: rclcpp::Node::get_subscriptions_info_by_topic

Implemented in rclcpp::node_interfaces::NodeGraph.

◆ get_topic_names_and_types()

virtual RCLCPP_PUBLIC std::map<std::string, std::vector<std::string> > rclcpp::node_interfaces::NodeGraphInterface::get_topic_names_and_types ( bool no_demangle = false ) const

pure virtual

Return a map of existing topic names to list of topic types.

A topic is considered to exist when at least one publisher or subscriber exists for it, whether they be local or remote to this process. The returned names are the actual names of the topics, either announced by another nodes or by this one. Attempting to create publishers or subscribers using names returned by this function may not result in the desired topic name being used depending on the remap rules in use.

Parameters

[in] no_demangle if true, topic names and types are not demangled

Implemented in rclcpp::node_interfaces::NodeGraph.

◆ notify_graph_change()

virtual RCLCPP_PUBLIC void rclcpp::node_interfaces::NodeGraphInterface::notify_graph_change ( )

pure virtual

Notify threads waiting on graph changes.

Affects threads waiting on the notify guard condition, see: get_notify_guard_condition(), as well as the threads waiting on graph changes using a graph Event, see: wait_for_graph_change().

This is typically only used by the rclcpp::graph_listener::GraphListener.

Exceptions

RCLBaseError (a child of that exception) when an rcl error occurs

Implemented in rclcpp::node_interfaces::NodeGraph.

◆ wait_for_graph_change()

virtual RCLCPP_PUBLIC void rclcpp::node_interfaces::NodeGraphInterface::wait_for_graph_change	(	rclcpp::Event::SharedPtr	event,
		std::chrono::nanoseconds	timeout
	)

pure virtual

Wait for a graph event to occur by waiting on an Event to become set.

The given Event must be acquire through the get_graph_event() method.

Exceptions

InvalidEventError	if the given event is nullptr
EventNotRegisteredError	if the given event was not acquired with get_graph_event().

Implemented in rclcpp::node_interfaces::NodeGraph.

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

rclcpp/include/rclcpp/node_interfaces/node_graph_interface.hpp

Public Member Functions

Detailed Description

Member Function Documentation

◆ count_graph_users()

◆ get_client_names_and_types_by_node()

◆ get_graph_event()

◆ get_publisher_names_and_types_by_node()

◆ get_publishers_info_by_topic()

◆ get_service_names_and_types()

◆ get_service_names_and_types_by_node()

◆ get_subscriber_names_and_types_by_node()

◆ get_subscriptions_info_by_topic()

◆ get_topic_names_and_types()

◆ notify_graph_change()

◆ wait_for_graph_change()