niklas/rclcpp
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Merge pull request #128 from ros2/create_subscription_with_queue_size

Browse source 
add version of create_subscription which just takes queue size and not a qos profile
This commit is contained in:
William Woodall 2015-10-14 16:13:13 -07:00
commit a61e375436
2 changed files with 49 additions and 0 deletions
Download patch file Download diff file Expand all files Collapse all files

25
rclcpp/include/rclcpp/node.hpp
View file

@ -114,6 +114,31 @@ public:
create_publisher( create_publisher(
const std::string & topic_name, const rmw_qos_profile_t & qos_profile); const std::string & topic_name, const rmw_qos_profile_t & qos_profile);
/// Create and return a Subscription.
/**
* \param[in] topic_name The topic to subscribe on.
* \param[in] qos_history_depth The depth of the subscription's incoming message queue.
* \param[in] callback The user-defined callback function.
* \param[in] group The callback group for this subscription. NULL for no callback group.
* \param[in] ignore_local_publications True to ignore local publications.
* \param[in] msg_mem_strat The message memory strategy to use for allocating messages.
* \return Shared pointer to the created subscription.
*/
/* TODO(jacquelinekay):
Windows build breaks when static member function passed as default
argument to msg_mem_strat, nullptr is a workaround.
*/
template<typename MessageT, typename CallbackT>
typename rclcpp::subscription::Subscription<MessageT>::SharedPtr
create_subscription(
const std::string & topic_name,
size_t qos_history_depth,
CallbackT callback,
rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr,
bool ignore_local_publications = false,
typename rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT>::SharedPtr
msg_mem_strat = nullptr);
/// Create and return a Subscription. /// Create and return a Subscription.
/** /**
* \param[in] topic_name The topic to subscribe on. * \param[in] topic_name The topic to subscribe on.

24
rclcpp/include/rclcpp/node_impl.hpp
View file

@ -205,6 +205,30 @@ Node::group_in_node(callback_group::CallbackGroup::SharedPtr group)
return group_belongs_to_this_node; return group_belongs_to_this_node;
} }
template<typename MessageT, typename CallbackT>
typename rclcpp::subscription::Subscription<MessageT>::SharedPtr
Node::create_subscription(
const std::string & topic_name,
size_t qos_history_depth,
CallbackT callback,
rclcpp::callback_group::CallbackGroup::SharedPtr group,
bool ignore_local_publications,
typename rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT>::SharedPtr
msg_mem_strat)
{
rclcpp::subscription::AnySubscriptionCallback<MessageT> any_subscription_callback;
any_subscription_callback.set(callback);
rmw_qos_profile_t qos = rmw_qos_profile_default;
qos.depth = qos_history_depth;
return this->create_subscription_internal(
topic_name,
qos,
any_subscription_callback,
group,
ignore_local_publications,
msg_mem_strat);
}
template<typename MessageT, typename CallbackT> template<typename MessageT, typename CallbackT>
typename rclcpp::subscription::Subscription<MessageT>::SharedPtr typename rclcpp::subscription::Subscription<MessageT>::SharedPtr
Node::create_subscription( Node::create_subscription(