Class: ROS::Publisher

Inherits:

Topic

• Object
• Topic
• ROS::Publisher

show all

Defined in:

lib/ros/publisher.rb

Overview

node = ROS::Node.new('/rosruby/sample_publisher')
publisher = node.advertise('/chatter', Std_msgs::String)
sleep(1)
msg = Std_msgs::String.new
i = 0
while node.ok?
  msg.data = "Hello, rosruby!: #{i}"
  publisher.publish(msg)
  i += 1
end

Instance Attribute Summary

Attributes inherited from Topic

#caller_id, #topic_name, #topic_type

Instance Method Summary (collapse)

• - (TCPROS::Server) add_connection(caller_id)

  add tcpros connection as server.

• - (Array) get_connection_data

  Connection data for slave api.

• - (array) get_connection_info

  Connection info for slave api.

• - (Integer) get_number_of_subscribers

  get number of subscribers to this publisher.

• - (Publisher) initialize(caller_id, topic_name, topic_type, is_latched, host) constructor

  A new instance of Publisher.

• - (Publisher) publish(message)

  publish msg object.

• - (nil) shutdown

  user interface of shutdown this publisher.

Methods inherited from Topic

#close, #set_manager

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# File 'lib/ros/publisher.rb', line 34

def initialize(caller_id, topic_name, topic_type, is_latched, host)
  super(caller_id, topic_name, topic_type)
  @host = host
  @is_latched = is_latched
  @seq = 0
end

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# File 'lib/ros/publisher.rb', line 61

def add_connection(caller_id) #:nodoc:
  connection = TCPROS::Server.new(@caller_id, @topic_name, @topic_type,
                                  :host=>@host,
                                  :latched=>@is_latched,
                                  :last_published_msg=>@last_published_msg)
  connection.start
  connection.id = "#{@topic_name}_out_#{@connection_id_number}"
  @connection_id_number += 1
  @connections.push(connection)
  return connection
end

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# File 'lib/ros/publisher.rb', line 80

def get_connection_data
  @connections.map do |connection|
    [connection.id, connection.byte_sent, connection.num_sent, 1]
  end
end

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# File 'lib/ros/publisher.rb', line 87

def get_connection_info
  info = []
  @connections.each do |connection|
    info.push([connection.id, connection.caller_id, 'o', connection.protocol, @topic_name])
  end
  info
end

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# File 'lib/ros/publisher.rb', line 75

def get_number_of_subscribers
  @connections.length
end

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# File 'lib/ros/publisher.rb', line 45

def publish(message)
  @seq += 1
  @last_published_msg = message
  if message.has_header?
    message.header.seq = @seq
  end
  @connections.each do |connection|
    connection.msg_queue.push(message)
  end
  self
end

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# File 'lib/ros/publisher.rb', line 98

def shutdown
  @manager.shutdown_publisher(self)
end