A helper class to simplify setup of SubscribeHandler construction. This class is passed to the SubscribeHandler constructor and specifies its common options. More...

#include <subscribe_handler.h>

Public Member Functions
	SubscribeHandlerOptions (const ros::NodeHandle &nh)

Public Attributes
ros::NodeHandle	nh
	The ROS NodeHandle to be used for subscription.

std::string	node_name = {}
	Name of the ROS node, using this handle (used for messages printed to console).

std::string	topic_name = {}
	Name of the ROS topic to be handled.

std::shared_ptr< mrs_lib::TimeoutManager >	timeout_manager = nullptr
	Will be used for handling message timouts if necessary. If no manager is specified, it will be created with rate equal to half of `no_message_timeout`.

ros::Duration	no_message_timeout = mrs_lib::no_timeout
	If no new message is received for this duration, the `timeout_callback` function will be called. If `timeout_callback` is empty, an error message will be printed to the console.

std::function< void(const std::string &topic_name, const ros::Time &last_msg)>	timeout_callback = {}
	This function will be called if no new message is received for the `no_message_timeout` duration. If this variable is empty, an error message will be printed to the console.

bool	threadsafe = true
	If true, all methods of the SubscribeHandler will be mutexed (using a recursive mutex) to avoid data races.

bool	autostart = true
	If true, the SubscribeHandler will be started after construction. Otherwise it has to be started using the start() method.

uint32_t	queue_size = 3
	This parameter is passed to the NodeHandle when subscribing to the topic.

ros::TransportHints	transport_hints = ros::TransportHints()
	This parameter is passed to the NodeHandle when subscribing to the topic.

Detailed Description

A helper class to simplify setup of SubscribeHandler construction. This class is passed to the SubscribeHandler constructor and specifies its common options.

Note: Any option, passed directly to the SubscribeHandler constructor outside this structure, OVERRIDES values in this structure. The values in this structure can be thought of as default common values for all SubscribeHandler objects you want to create, and values passed directly to the constructor as specific options for the concrete handler.

Examples: subscribe_handler/example.cpp, and subscribe_handler/simple_example.cpp.

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

include/mrs_lib/subscribe_handler.h

Public Member Functions

Public Attributes

Detailed Description