Class astutedds::dcps::ROS2Bridge

Class astutedds::dcps::ROS2Bridge

ClassList > astutedds > dcps > ROS2Bridge

  • #include <ros2_bridge.hpp>

Public Types

Type Name
typedef DataReader::DataCallback SubscriptionCallback
Callback invoked when a bridged DDS reader receives a serialized ROS 2 payload.

Public Functions

Type Name
ROS2Bridge (DomainParticipant * participant)
Create a bridge bound to an existing participant. The participant is not owned by the bridge.
std::string dds_topic_name (const std::string & ros2_topic_name) const
std::string dds_type_name (const std::string & ros2_topic_name) const
bool publish_serialized (const std::string & ros2_topic_name, const std::vector< uint8_t > & serialized_message)
ReturnCode_t read_next_serialized (const std::string & ros2_topic_name, std::vector< uint8_t > & data, SampleInfo & info)
DataReader * reader (const std::string & ros2_topic_name) const
bool register_topic (const std::string & ros2_topic_name, const std::string & ros2_type_name, const TopicQos & topic_qos=TopicQos{}, const DataWriterQos & writer_qos=DataWriterQos{}, const DataReaderQos & reader_qos=DataReaderQos{})
bool subscribe_serialized (const std::string & ros2_topic_name, SubscriptionCallback callback)
ReturnCode_t take_next_serialized (const std::string & ros2_topic_name, std::vector< uint8_t > & data, SampleInfo & info)
Topic * topic (const std::string & ros2_topic_name) const
DataWriter * writer (const std::string & ros2_topic_name) const

Public Types Documentation

typedef SubscriptionCallback

Callback invoked when a bridged DDS reader receives a serialized ROS 2 payload. 

using astutedds::dcps::ROS2Bridge::SubscriptionCallback =  DataReader::DataCallback;

Public Functions Documentation

function ROS2Bridge

Create a bridge bound to an existing participant. The participant is not owned by the bridge. 

inline explicit astutedds::dcps::ROS2Bridge::ROS2Bridge (
    DomainParticipant * participant
)

function dds_topic_name

inline std::string astutedds::dcps::ROS2Bridge::dds_topic_name (
    const std::string & ros2_topic_name
) const

function dds_type_name

inline std::string astutedds::dcps::ROS2Bridge::dds_type_name (
    const std::string & ros2_topic_name
) const

function publish_serialized

inline bool astutedds::dcps::ROS2Bridge::publish_serialized (
    const std::string & ros2_topic_name,
    const std::vector< uint8_t > & serialized_message
)

function read_next_serialized

inline ReturnCode_t astutedds::dcps::ROS2Bridge::read_next_serialized (
    const std::string & ros2_topic_name,
    std::vector< uint8_t > & data,
    SampleInfo & info
)

function reader

inline DataReader * astutedds::dcps::ROS2Bridge::reader (
    const std::string & ros2_topic_name
) const

function register_topic

inline bool astutedds::dcps::ROS2Bridge::register_topic (
    const std::string & ros2_topic_name,
    const std::string & ros2_type_name,
    const TopicQos & topic_qos=TopicQos {},
    const DataWriterQos & writer_qos=DataWriterQos {},
    const DataReaderQos & reader_qos=DataReaderQos {}
)

function subscribe_serialized

inline bool astutedds::dcps::ROS2Bridge::subscribe_serialized (
    const std::string & ros2_topic_name,
    SubscriptionCallback callback
)

function take_next_serialized

inline ReturnCode_t astutedds::dcps::ROS2Bridge::take_next_serialized (
    const std::string & ros2_topic_name,
    std::vector< uint8_t > & data,
    SampleInfo & info
)

function topic

inline Topic * astutedds::dcps::ROS2Bridge::topic (
    const std::string & ros2_topic_name
) const

function writer

inline DataWriter * astutedds::dcps::ROS2Bridge::writer (
    const std::string & ros2_topic_name
) const

The documentation for this class was generated from the following file include/astutedds/dcps/ros2_bridge.hpp