Package org.ros.node

Class NodeConfiguration

java.lang.Object

org.ros.node.NodeConfiguration

public class NodeConfiguration
extends Object

Stores configuration information (e.g. ROS master URI) for Nodes.

Author:

ethan.rublee@gmail.com (Ethan Rublee), kwc@willowgarage.com (Ken Conley), damonkohler@google.com (Damon Kohler)

See Also:

• Node documentation

Field Summary

Fields

Modifier and Type	Field	Description
static final URI	DEFAULT_MASTER_URI	The default master URI.

Method Summary

Modifier and Type	Method	Description
static NodeConfiguration	copyOf(NodeConfiguration nodeConfiguration)
URI	getMasterUri()
org.ros.message.MessageSerializationFactory	getMessageSerializationFactory()
GraphName	getNodeName()
NameResolver	getParentResolver()
List<File>	getRosPackagePath()	These ordered paths tell the ROS system where to search for more ROS packages.
File	getRosRoot()
org.ros.internal.message.service.ServiceDescriptionFactory	getServiceDescriptionFactory()
org.ros.message.MessageFactory	getServiceRequestMessageFactory()
org.ros.message.MessageFactory	getServiceResponseMessageFactory()
AdvertiseAddress	getTcpRosAdvertiseAddress()
AdvertiseAddressFactory	getTcpRosAdvertiseAddressFactory()
BindAddress	getTcpRosBindAddress()
TimeProvider	getTimeProvider()
org.ros.internal.message.topic.TopicDescriptionFactory	getTopicDescriptionFactory()
org.ros.message.MessageFactory	getTopicMessageFactory()
AdvertiseAddress	getXmlRpcAdvertiseAddress()
AdvertiseAddressFactory	getXmlRpcAdvertiseAddressFactory()
BindAddress	getXmlRpcBindAddress()
static NodeConfiguration	newPrivate()	Creates a new NodeConfiguration for a Node that is only accessible on the local host.
static NodeConfiguration	newPrivate(URI masterUri)	Creates a new NodeConfiguration for a Node that is only accessible on the local host.
static NodeConfiguration	newPublic(String host)	Creates a new NodeConfiguration for a publicly accessible Node.
static NodeConfiguration	newPublic(String host, URI masterUri)	Creates a new NodeConfiguration for a publicly accessible Node.
NodeConfiguration	setDefaultNodeName(String nodeName)	Sets the name of the Node if the name has not already been set.
NodeConfiguration	setDefaultNodeName(GraphName nodeName)	Sets the name of the Node if the name has not already been set.
NodeConfiguration	setMasterUri(URI masterUri)
NodeConfiguration	setMessageSerializationFactory(org.ros.message.MessageSerializationFactory messageSerializationFactory)
NodeConfiguration	setNodeName(String nodeName)
NodeConfiguration	setNodeName(GraphName nodeName)
NodeConfiguration	setParentResolver(NameResolver resolver)
NodeConfiguration	setRosPackagePath(List<File> rosPackagePath)	These ordered paths tell the ROS system where to search for more ROS packages.
NodeConfiguration	setRosRoot(File rosRoot)
NodeConfiguration	setServiceDescriptionFactory(org.ros.internal.message.service.ServiceDescriptionFactory serviceDescriptionFactory)
NodeConfiguration	setServiceRequestMessageFactory(org.ros.internal.message.service.ServiceRequestMessageFactory serviceRequestMessageFactory)
NodeConfiguration	setServiceResponseMessageFactory(org.ros.internal.message.service.ServiceResponseMessageFactory serviceResponseMessageFactory)
NodeConfiguration	setTcpRosAdvertiseAddressFactory(AdvertiseAddressFactory tcpRosAdvertiseAddressFactory)
NodeConfiguration	setTcpRosBindAddress(BindAddress tcpRosBindAddress)
NodeConfiguration	setTimeProvider(TimeProvider timeProvider)	Sets the TimeProvider that Nodes will use.
NodeConfiguration	setTopicDescriptionFactory(org.ros.internal.message.topic.TopicDescriptionFactory topicDescriptionFactory)
NodeConfiguration	setTopicMessageFactory(org.ros.message.MessageFactory topicMessageFactory)
NodeConfiguration	setXmlRpcAdvertiseAddressFactory(AdvertiseAddressFactory xmlRpcAdvertiseAddressFactory)
NodeConfiguration	setXmlRpcBindAddress(BindAddress xmlRpcBindAddress)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

DEFAULT_MASTER_URI

public static final URI DEFAULT_MASTER_URI

The default master URI.

Method Details

copyOf

public static NodeConfiguration copyOf(NodeConfiguration nodeConfiguration)

Parameters:

nodeConfiguration - the NodeConfiguration to copy

Returns:

a copy of the supplied NodeConfiguration

newPublic

public static NodeConfiguration newPublic(String host,
 URI masterUri)

Creates a new NodeConfiguration for a publicly accessible Node.

Parameters:

host - the host that the Node will run on

masterUri - the URI for the master that the Node will register with

Returns:

a new NodeConfiguration for a publicly accessible Node

newPublic

public static NodeConfiguration newPublic(String host)

Creates a new NodeConfiguration for a publicly accessible Node.

Parameters:

host - the host that the Node will run on

Returns:

a new NodeConfiguration for a publicly accessible Node

newPrivate

public static NodeConfiguration newPrivate(URI masterUri)

Creates a new NodeConfiguration for a Node that is only accessible on the local host.

Parameters:

masterUri - the URI for the master that the Node will register with

Returns:

a new NodeConfiguration for a private Node

newPrivate

public static NodeConfiguration newPrivate()

Creates a new NodeConfiguration for a Node that is only accessible on the local host.

Returns:

a new NodeConfiguration for a private Node

getParentResolver

public NameResolver getParentResolver()

Returns:

the NameResolver for the Node's parent namespace

setParentResolver

public NodeConfiguration setParentResolver(NameResolver resolver)

Parameters:

resolver - the NameResolver for the Node's parent namespace

Returns:

this NodeConfiguration

getMasterUri

public URI getMasterUri()

Returns:

the URI of the master that the Node will register with

See Also:

• ROS_MASTER_URI documentation

setMasterUri

public NodeConfiguration setMasterUri(URI masterUri)

Parameters:

masterUri - the URI of the master that the Node will register with

Returns:

this NodeConfiguration

See Also:

• ROS_MASTER_URI documentation

getRosRoot

public File getRosRoot()

Returns:

the location where the ROS core packages are installed

See Also:

• ROS_ROOT documentation

setRosRoot

public NodeConfiguration setRosRoot(File rosRoot)

Parameters:

rosRoot - the location where the ROS core packages are installed

Returns:

this NodeConfiguration

See Also:

• ROS_ROOT documentation

getRosPackagePath

public List<File> getRosPackagePath()

These ordered paths tell the ROS system where to search for more ROS packages. If there are multiple packages of the same name, ROS will choose the one that appears in the List first.

Returns:

the List of paths where the system will look for ROS packages

See Also:

• ROS_PACKAGE_PATH documentation

setRosPackagePath

public NodeConfiguration setRosPackagePath(List<File> rosPackagePath)

These ordered paths tell the ROS system where to search for more ROS packages. If there are multiple packages of the same name, ROS will choose the one that appears in the List first.

Parameters:

rosPackagePath - the List of paths where the system will look for ROS packages

Returns:

this NodeConfiguration

See Also:

• ROS_PACKAGE_PATH documentation

getNodeName

public GraphName getNodeName()

Returns:

the name of the Node

setNodeName

public NodeConfiguration setNodeName(GraphName nodeName)

Parameters:

nodeName - the name of the Node

Returns:

this NodeConfiguration

setNodeName

public NodeConfiguration setNodeName(String nodeName)

Parameters:

nodeName - the name of the Node

Returns:

this NodeConfiguration

setDefaultNodeName

public NodeConfiguration setDefaultNodeName(GraphName nodeName)

Sets the name of the Node if the name has not already been set.

Parameters:

nodeName - the name of the Node

Returns:

this NodeConfiguration

setDefaultNodeName

public NodeConfiguration setDefaultNodeName(String nodeName)

Sets the name of the Node if the name has not already been set.

Parameters:

nodeName - the name of the Node

Returns:

this NodeConfiguration

getMessageSerializationFactory

public org.ros.message.MessageSerializationFactory getMessageSerializationFactory()

Returns:

the MessageSerializationFactory for the Node

setMessageSerializationFactory

public NodeConfiguration setMessageSerializationFactory(org.ros.message.MessageSerializationFactory messageSerializationFactory)

Parameters:

messageSerializationFactory - the MessageSerializationFactory for the Node

Returns:

this NodeConfiguration

setTopicMessageFactory

public NodeConfiguration setTopicMessageFactory(org.ros.message.MessageFactory topicMessageFactory)

Parameters:

topicMessageFactory - the MessageFactory for the Node

Returns:

this NodeConfiguration

getTopicMessageFactory

public org.ros.message.MessageFactory getTopicMessageFactory()

setServiceRequestMessageFactory

public NodeConfiguration setServiceRequestMessageFactory(org.ros.internal.message.service.ServiceRequestMessageFactory serviceRequestMessageFactory)

Parameters:

serviceRequestMessageFactory - the ServiceRequestMessageFactory for the Node

Returns:

this NodeConfiguration

getServiceRequestMessageFactory

public org.ros.message.MessageFactory getServiceRequestMessageFactory()

setServiceResponseMessageFactory

public NodeConfiguration setServiceResponseMessageFactory(org.ros.internal.message.service.ServiceResponseMessageFactory serviceResponseMessageFactory)

Parameters:

serviceResponseMessageFactory - the ServiceResponseMessageFactory for the Node

Returns:

this NodeConfiguration

getServiceResponseMessageFactory

public org.ros.message.MessageFactory getServiceResponseMessageFactory()

setTopicDescriptionFactory

public NodeConfiguration setTopicDescriptionFactory(org.ros.internal.message.topic.TopicDescriptionFactory topicDescriptionFactory)

Parameters:

topicDescriptionFactory - the TopicDescriptionFactory for the Node

Returns:

this NodeConfiguration

getTopicDescriptionFactory

public org.ros.internal.message.topic.TopicDescriptionFactory getTopicDescriptionFactory()

setServiceDescriptionFactory

public NodeConfiguration setServiceDescriptionFactory(org.ros.internal.message.service.ServiceDescriptionFactory serviceDescriptionFactory)

Parameters:

serviceDescriptionFactory - the ServiceDescriptionFactory for the Node

Returns:

this NodeConfiguration

getServiceDescriptionFactory

public org.ros.internal.message.service.ServiceDescriptionFactory getServiceDescriptionFactory()

getTcpRosBindAddress

public BindAddress getTcpRosBindAddress()

Returns:

the BindAddress for the Node's TCPROS server

See Also:

• TCPROS documentation

setTcpRosBindAddress

public NodeConfiguration setTcpRosBindAddress(BindAddress tcpRosBindAddress)

Parameters:

tcpRosBindAddress - the BindAddress for the Node's TCPROS server

See Also:

• TCPROS documentation

getTcpRosAdvertiseAddressFactory

public AdvertiseAddressFactory getTcpRosAdvertiseAddressFactory()

Returns:

the AdvertiseAddressFactory for the Node's TCPROS server

See Also:

• TCPROS documentation

setTcpRosAdvertiseAddressFactory

public NodeConfiguration setTcpRosAdvertiseAddressFactory(AdvertiseAddressFactory tcpRosAdvertiseAddressFactory)

Parameters:

tcpRosAdvertiseAddressFactory - the AdvertiseAddressFactory for the Node's TCPROS server

Returns:

this NodeConfiguration

See Also:

• TCPROS documentation

getTcpRosAdvertiseAddress

public AdvertiseAddress getTcpRosAdvertiseAddress()

Returns:

the AdvertiseAddress for the Node's TCPROS server

See Also:

• TCPROS documentation

getXmlRpcBindAddress

public BindAddress getXmlRpcBindAddress()

Returns:

the BindAddress for the Node's XML-RPC server

See Also:

• Node documentation

setXmlRpcBindAddress

public NodeConfiguration setXmlRpcBindAddress(BindAddress xmlRpcBindAddress)

Parameters:

xmlRpcBindAddress - the BindAddress for the Node's XML-RPC server

See Also:

• Node documentation

getXmlRpcAdvertiseAddress

public AdvertiseAddress getXmlRpcAdvertiseAddress()

Returns:

the AdvertiseAddress for the Node's XML-RPC server

See Also:

• Node documentation

getXmlRpcAdvertiseAddressFactory

public AdvertiseAddressFactory getXmlRpcAdvertiseAddressFactory()

Returns:

the AdvertiseAddressFactory for the Node's XML-RPC server

See Also:

• Node documentation

setXmlRpcAdvertiseAddressFactory

public NodeConfiguration setXmlRpcAdvertiseAddressFactory(AdvertiseAddressFactory xmlRpcAdvertiseAddressFactory)

Parameters:

xmlRpcAdvertiseAddressFactory - the AdvertiseAddressFactory for the Node's XML-RPC server

See Also:

• Node documentation

getTimeProvider

public TimeProvider getTimeProvider()

Returns:

the configured TimeProvider

setTimeProvider

public NodeConfiguration setTimeProvider(TimeProvider timeProvider)

Sets the TimeProvider that Nodes will use. By default, the WallTimeProvider is used.

Parameters:

timeProvider - the TimeProvider that Nodes will use