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Implement functions to get publisher and subcription informations like QoS policies from topic name (#960)

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Signed-off-by: Barry Xu <Barry.Xu@sony.com>
Signed-off-by: Miaofei <miaofei@amazon.com>
Co-authored-by: Miaofei Mei <ameision@hotmail.com>
This commit is contained in:
Barry Xu 2020-02-15 04:25:03 +08:00 • committed by GitHub
parent 7c1721a0b3
commit 2d9c6ea3a7
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9 changed files with 530 additions and 1 deletions
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16
rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
View file

@ -439,6 +439,22 @@ public:
size_t
count_subscribers(const std::string & topic_name) const;
/// Return the topic endpoint information about publishers on a given topic.
/**
* \sa rclcpp::Node::get_publishers_info_by_topic
*/
RCLCPP_LIFECYCLE_PUBLIC
std::vector<rclcpp::TopicEndpointInfo>
get_publishers_info_by_topic(const std::string & topic_name, bool no_mangle = false) const;
/// Return the topic endpoint information about subscriptions on a given topic.
/**
* \sa rclcpp::Node::get_subscriptions_info_by_topic
*/
RCLCPP_LIFECYCLE_PUBLIC
std::vector<rclcpp::TopicEndpointInfo>
get_subscriptions_info_by_topic(const std::string & topic_name, bool no_mangle = false) const;
/// 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

12
rclcpp_lifecycle/src/lifecycle_node.cpp
View file

@ -290,6 +290,18 @@ LifecycleNode::count_subscribers(const std::string & topic_name) const
return node_graph_->count_subscribers(topic_name);
}
std::vector<rclcpp::TopicEndpointInfo>
LifecycleNode::get_publishers_info_by_topic(const std::string & topic_name, bool no_mangle) const
{
return node_graph_->get_publishers_info_by_topic(topic_name, no_mangle);
}
std::vector<rclcpp::TopicEndpointInfo>
LifecycleNode::get_subscriptions_info_by_topic(const std::string & topic_name, bool no_mangle) const
{
return node_graph_->get_subscriptions_info_by_topic(topic_name, no_mangle);
}
const std::vector<rclcpp::callback_group::CallbackGroup::WeakPtr> &
LifecycleNode::get_callback_groups() const
{