Package org.ros.node

Interface ConnectedNode

All Superinterfaces:

Node

All Known Implementing Classes:

DefaultNode

public interface ConnectedNode
extends Node

A node in the ROS graph that has successfully contacted the master.

A ConnectedNode serves as a factory for:

• Publisher
• Subscriber
• ServiceServer
• ServiceClient
• ParameterTree

Author:

damonkohler@google.com (Damon Kohler)

Method Summary

Modifier and Type	Method	Description
org.ros.message.Time	getCurrentTime()	In ROS, time can be wallclock (actual) or simulated, so it is important to use getCurrentTime() instead of using the standard Java routines for determining the current time.
ParameterTree	getParameterTree()	Create a ParameterTree to query and set parameters on the ROS parameter server.
<T, S> ServiceServer<T,S>	getServiceServer(String serviceName)
<T, S> ServiceServer<T,S>	getServiceServer(GraphName serviceName)
URI	lookupServiceUri(String serviceName)
URI	lookupServiceUri(GraphName serviceName)
<T> Publisher<T>	newPublisher(String topicName, String messageType)
<T> Publisher<T>	newPublisher(GraphName topicName, String messageType)
<T, S> ServiceClient<T,S>	newServiceClient(String serviceName, String serviceType)
<T, S> ServiceClient<T,S>	newServiceClient(GraphName serviceName, String serviceType)	Create a ServiceClient.
<T, S> ServiceServer<T,S>	newServiceServer(String serviceName, String serviceType, ServiceResponseBuilder<T,S> serviceResponseBuilder)
<T, S> ServiceServer<T,S>	newServiceServer(GraphName serviceName, String serviceType, ServiceResponseBuilder<T,S> serviceResponseBuilder)	Create a new ServiceServer.
<T> Subscriber<T>	newSubscriber(String topicName, String messageType)
<T> Subscriber<T>	newSubscriber(String topicName, String messageType, TransportHints transportHints)
<T> Subscriber<T>	newSubscriber(GraphName topicName, String messageType)
<T> Subscriber<T>	newSubscriber(GraphName topicName, String messageType, TransportHints transportHints)

Methods inherited from interface org.ros.node.Node

addListener, executeCancellableLoop, getLog, getMasterUri, getMessageSerializationFactory, getName, getResolver, getScheduledExecutorService, getServiceRequestMessageFactory, getServiceResponseMessageFactory, getTopicMessageFactory, getUri, removeListeners, resolveName, resolveName, shutdown

Method Details

getCurrentTime

org.ros.message.Time getCurrentTime()

In ROS, time can be wallclock (actual) or simulated, so it is important to use getCurrentTime() instead of using the standard Java routines for determining the current time.

Returns:

the current time

newPublisher

<T> Publisher<T> newPublisher(GraphName topicName,
 String messageType)

Type Parameters:

T - the message type to create the publisher for

Parameters:

topicName - the topic name, will be pushed down under this namespace unless '/' is prepended.

messageType - the message data type (e.g. "std_msgs/String")

Returns:

a Publisher for the specified topic

newPublisher

<T> Publisher<T> newPublisher(String topicName,
 String messageType)

See Also:

• newPublisher(GraphName, String)

newSubscriber

<T> Subscriber<T> newSubscriber(GraphName topicName,
 String messageType)

Type Parameters:

T - the message type to create the Subscriber for

Parameters:

topicName - the topic name to be subscribed to, this will be auto resolved

messageType - the message data type (e.g. "std_msgs/String")

Returns:

a Subscriber for the specified topic

newSubscriber

<T> Subscriber<T> newSubscriber(GraphName topicName,
 String messageType,
 TransportHints transportHints)

Type Parameters:

T - the message type to create the Subscriber for

Parameters:

topicName - the topic name to be subscribed to, this will be auto resolved

messageType - the message data type (e.g. "std_msgs/String")

transportHints - the transport hints

Returns:

a Subscriber for the specified topic

newSubscriber

<T> Subscriber<T> newSubscriber(String topicName,
 String messageType)

See Also:

• newSubscriber(GraphName, String)

newSubscriber

<T> Subscriber<T> newSubscriber(String topicName,
 String messageType,
 TransportHints transportHints)

See Also:

• newSubscriber(GraphName, String, TransportHints)

newServiceServer

<T,
S> ServiceServer<T,S> newServiceServer(GraphName serviceName,
 String serviceType,
 ServiceResponseBuilder<T,S> serviceResponseBuilder)

Create a new ServiceServer.

Parameters:

serviceName - the name of the service

serviceType - the type of the service (e.g. "rosjava_test_msgs/AddTwoInts")

serviceResponseBuilder - called for every request to build a response

Returns:

a ServiceServer

newServiceServer

<T,
S> ServiceServer<T,S> newServiceServer(String serviceName,
 String serviceType,
 ServiceResponseBuilder<T,S> serviceResponseBuilder)

See Also:

• newServiceServer(GraphName, String, ServiceResponseBuilder)

getServiceServer

<T,
S> ServiceServer<T,S> getServiceServer(GraphName serviceName)

Parameters:

serviceName - the GraphName of the ServiceServer

Returns:

the ServiceServer with the given name or null if it does not exist

getServiceServer

<T,
S> ServiceServer<T,S> getServiceServer(String serviceName)

See Also:

• getServiceServer(GraphName)

lookupServiceUri

URI lookupServiceUri(GraphName serviceName)

Parameters:

serviceName - the GraphName of the service URI to lookup

Returns:

the URI of the service or null if it does not exist

lookupServiceUri

URI lookupServiceUri(String serviceName)

See Also:

• lookupServiceUri(GraphName)

newServiceClient

<T,
S> ServiceClient<T,S> newServiceClient(GraphName serviceName,
 String serviceType)
                                   throws ServiceNotFoundException

Create a ServiceClient.

Parameters:

serviceName - the name of the service

serviceType - the type of the service (e.g. "rosjava_test_msgs/AddTwoInts")

Returns:

a ServiceClient

Throws:

ServiceNotFoundException - thrown if no matching service could be found

newServiceClient

<T,
S> ServiceClient<T,S> newServiceClient(String serviceName,
 String serviceType)
                                   throws ServiceNotFoundException

Throws:

ServiceNotFoundException

See Also:

• newServiceClient(GraphName, String)

getParameterTree

ParameterTree getParameterTree()

Create a ParameterTree to query and set parameters on the ROS parameter server.

Returns:

ParameterTree with NameResolver in this namespace.