Implementation the NodeGraph part of the Node API. More...

#include <rclcpp/node_interfaces/node_graph.hpp>

Inheritance diagram for rclcpp::node_interfaces::NodeGraph:

Collaboration diagram for rclcpp::node_interfaces::NodeGraph:

Public Member Functions
RCLCPP_PUBLIC	NodeGraph (rclcpp::node_interfaces::NodeBaseInterface *node_base)

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

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

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

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

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

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

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

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

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

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

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

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

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

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

RCLCPP_PUBLIC void	notify_graph_change () override
	Notify threads waiting on graph changes. More...

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

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

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

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

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

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

Detailed Description

Implementation the NodeGraph part of the Node API.

Definition at line 50 of file node_graph.hpp.

Member Function Documentation

◆ count_graph_users()

size_t NodeGraph::count_graph_users ( ) const

overridevirtual

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

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

Implements rclcpp::node_interfaces::NodeGraphInterface.

Definition at line 640 of file node_graph.cpp.

◆ get_client_names_and_types_by_node()

std::map< std::string, std::vector< std::string > > NodeGraph::get_client_names_and_types_by_node	(	const std::string &	node_name,
		const std::string &	namespace_
	)		const

overridevirtual

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

Implements rclcpp::node_interfaces::NodeGraphInterface.

Definition at line 184 of file node_graph.cpp.

References rclcpp::get_logger(), rclcpp::node_interfaces::NodeBaseInterface::get_rcl_node_handle(), rcl_get_client_names_and_types_by_node(), rcl_get_default_allocator, rcl_get_zero_initialized_names_and_types, rcl_names_and_types_fini(), and RCL_RET_OK.

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◆ get_graph_event()

rclcpp::Event::SharedPtr NodeGraph::get_graph_event ( )

overridevirtual

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.

Implements rclcpp::node_interfaces::NodeGraphInterface.

Definition at line 591 of file node_graph.cpp.

◆ get_publisher_names_and_types_by_node()

std::map< std::string, std::vector< std::string > > NodeGraph::get_publisher_names_and_types_by_node	(	const std::string &	node_name,
		const std::string &	namespace_,
		bool	no_demangle = `false`
	)		const

overridevirtual

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

Implements rclcpp::node_interfaces::NodeGraphInterface.

Definition at line 219 of file node_graph.cpp.

References rclcpp::get_logger(), rclcpp::node_interfaces::NodeBaseInterface::get_rcl_node_handle(), rcl_get_default_allocator, rcl_get_publisher_names_and_types_by_node(), rcl_get_zero_initialized_names_and_types, rcl_names_and_types_fini(), and RCL_RET_OK.

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◆ get_publishers_info_by_topic()

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

overridevirtual

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

Implements rclcpp::node_interfaces::NodeGraphInterface.

Definition at line 735 of file node_graph.cpp.

References rcl_get_publishers_info_by_topic().

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◆ get_service_names_and_types()

std::map< std::string, std::vector< std::string > > NodeGraph::get_service_names_and_types ( ) const

overridevirtual

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.

Implements rclcpp::node_interfaces::NodeGraphInterface.

Definition at line 100 of file node_graph.cpp.

References rclcpp::node_interfaces::NodeBaseInterface::get_rcl_node_handle(), rcl_get_default_allocator, rcl_get_service_names_and_types(), rcl_get_zero_initialized_names_and_types, rcl_names_and_types_fini(), and RCL_RET_OK.

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◆ get_service_names_and_types_by_node()

std::map< std::string, std::vector< std::string > > NodeGraph::get_service_names_and_types_by_node	(	const std::string &	node_name,
		const std::string &	namespace_
	)		const

overridevirtual

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

Implements rclcpp::node_interfaces::NodeGraphInterface.

Definition at line 142 of file node_graph.cpp.

References rclcpp::node_interfaces::NodeBaseInterface::get_rcl_node_handle(), rcl_get_default_allocator, rcl_get_service_names_and_types_by_node(), rcl_get_zero_initialized_names_and_types, rcl_names_and_types_fini(), and RCL_RET_OK.

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◆ get_subscriber_names_and_types_by_node()

std::map< std::string, std::vector< std::string > > NodeGraph::get_subscriber_names_and_types_by_node	(	const std::string &	node_name,
		const std::string &	namespace_,
		bool	no_demangle = `false`
	)		const

overridevirtual

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

Implements rclcpp::node_interfaces::NodeGraphInterface.

Definition at line 256 of file node_graph.cpp.

References rclcpp::get_logger(), rclcpp::node_interfaces::NodeBaseInterface::get_rcl_node_handle(), rcl_get_default_allocator, rcl_get_subscriber_names_and_types_by_node(), rcl_get_zero_initialized_names_and_types, rcl_names_and_types_fini(), and RCL_RET_OK.

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◆ get_subscriptions_info_by_topic()

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

overridevirtual

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

Implements rclcpp::node_interfaces::NodeGraphInterface.

Definition at line 748 of file node_graph.cpp.

References rcl_get_subscriptions_info_by_topic().

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◆ get_topic_names_and_types()

std::map< std::string, std::vector< std::string > > NodeGraph::get_topic_names_and_types ( bool no_demangle = false ) const

overridevirtual

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

Implements rclcpp::node_interfaces::NodeGraphInterface.

Definition at line 58 of file node_graph.cpp.

References rclcpp::node_interfaces::NodeBaseInterface::get_rcl_node_handle(), rcl_get_default_allocator, rcl_get_topic_names_and_types(), rcl_get_zero_initialized_names_and_types, rcl_names_and_types_fini(), and RCL_RET_OK.

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◆ notify_graph_change()

void NodeGraph::notify_graph_change ( )

overridevirtual

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

Implements rclcpp::node_interfaces::NodeGraphInterface.

Definition at line 547 of file node_graph.cpp.

References rclcpp::node_interfaces::NodeBaseInterface::trigger_notify_guard_condition().

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