RAII-pattern for starting up ROS. More...

#include <util.h>

Public Member Functions
	ROS (int argc, char **argv, const std::string &name="robowflex", unsigned int threads=1)
	Constructor. Start-up ROS. If Boost version is greater than 1.64, `rosmaster` is started if it is not already running. A signal handler or SIGINT and SIGSEGV is installed to gracefully exit. More...

	~ROS ()
	Destructor. Shutdown ROS. More...

std::vector< std::string >	getArgs () const
	Get command-line arguments without ROS parameters. More...

void	wait () const
	Waits for the process to be killed via some means (normally Ctrl-C) More...

Private Attributes
int	argc_
	Argument count. More...

char **	argv_
	Arguments. More...

Detailed Description

RAII-pattern for starting up ROS.

Definition at line 51 of file util.h.

Constructor & Destructor Documentation

◆ ROS()

ROS::ROS	(	int	argc,
		char **	argv,
		const std::string &	name = `"robowflex"`,
		unsigned int	threads = `1`
	)

Constructor. Start-up ROS. If Boost version is greater than 1.64, rosmaster is started if it is not already running. A signal handler or SIGINT and SIGSEGV is installed to gracefully exit.

Parameters

[in]	argc	Argument count forwarded to ros::init
[in]	argv	Arguments forwarded to ros::init
[in]	name	Name of ROS node.
[in]	threads	Threads to use for ROS spinning. If 0 no spinner is created.

Definition at line 68 of file util.cpp.

                                                                            : argc_(argc), argv_(argv)
 {
     ros::init(argc, argv, name, ros::init_options::NoSigintHandler);
     startup();
  
     signal(SIGINT, shutdown);
     signal(SIGSEGV, shutdown);
  
     if (threads)
     {
         SPINNER.reset(new ros::AsyncSpinner(threads));
         SPINNER->start();
     }
 }

◆ ~ROS()

ROS::~ROS ( )

Destructor. Shutdown ROS.

Definition at line 83 of file util.cpp.

 {
     shutdown(0);
 }

Member Function Documentation

◆ getArgs()

std::vector< std::string > ROS::getArgs ( ) const

Get command-line arguments without ROS parameters.

Returns: Vector of command line arguments as strings.

Definition at line 88 of file util.cpp.

 {
     std::vector<std::string> args;
     ros::removeROSArgs(argc_, argv_, args);
  
     return args;
 }

◆ wait()

void ROS::wait ( ) const

Waits for the process to be killed via some means (normally Ctrl-C)

Definition at line 96 of file util.cpp.

 {
     ros::waitForShutdown();
 }

Member Data Documentation

◆ argc_

int robowflex::ROS::argc_

private

Argument count.

Definition at line 78 of file util.h.

◆ argv_

char** robowflex::ROS::argv_

private

Arguments.

Definition at line 79 of file util.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Attributes