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public interface ConnectedNode
A node in the ROS graph that has successfully contacted the master.
A ConnectedNode
serves as a factory for:
Method Summary | ||
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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. |
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ParameterTree |
getParameterTree()
Create a ParameterTree to query and set parameters on the ROS
parameter server. |
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getServiceServer(GraphName serviceName)
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getServiceServer(java.lang.String serviceName)
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java.net.URI |
lookupServiceUri(GraphName serviceName)
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java.net.URI |
lookupServiceUri(java.lang.String serviceName)
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newPublisher(GraphName topicName,
java.lang.String messageType)
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newPublisher(java.lang.String topicName,
java.lang.String messageType)
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newServiceClient(GraphName serviceName,
java.lang.String serviceType)
Create a ServiceClient . |
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newServiceClient(java.lang.String serviceName,
java.lang.String serviceType)
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newServiceServer(GraphName serviceName,
java.lang.String serviceType,
ServiceResponseBuilder<T,S> serviceResponseBuilder)
Create a new ServiceServer . |
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newServiceServer(java.lang.String serviceName,
java.lang.String serviceType,
ServiceResponseBuilder<T,S> serviceResponseBuilder)
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newSubscriber(GraphName topicName,
java.lang.String messageType)
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newSubscriber(java.lang.String topicName,
java.lang.String messageType)
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Methods inherited from interface org.ros.node.Node |
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addListener, executeCancellableLoop, getLog, getMasterUri, getMessageSerializationFactory, getName, getResolver, getScheduledExecutorService, getServiceRequestMessageFactory, getServiceResponseMessageFactory, getTopicMessageFactory, getUri, removeListener, resolveName, resolveName, shutdown |
Method Detail |
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Time getCurrentTime()
getCurrentTime()
instead of using the standard
Java routines for determining the current time.
<T> Publisher<T> newPublisher(GraphName topicName, java.lang.String messageType)
T
- the message type to create the publisher fortopicName
- the topic name, will be pushed down under this namespace unless
'/' is prepended.messageType
- the message data type (e.g. "std_msgs/String")
Publisher
for the specified topic<T> Publisher<T> newPublisher(java.lang.String topicName, java.lang.String messageType)
newPublisher(GraphName, String)
<T> Subscriber<T> newSubscriber(GraphName topicName, java.lang.String messageType)
T
- the message type to create the Subscriber
fortopicName
- the topic name to be subscribed to, this will be auto resolvedmessageType
- the message data type (e.g. "std_msgs/String")
Subscriber
for the specified topic<T> Subscriber<T> newSubscriber(java.lang.String topicName, java.lang.String messageType)
newSubscriber(GraphName, String)
<T,S> ServiceServer<T,S> newServiceServer(GraphName serviceName, java.lang.String serviceType, ServiceResponseBuilder<T,S> serviceResponseBuilder)
ServiceServer
.
serviceName
- the name of the serviceserviceType
- the type of the service (e.g. "test_ros/AddTwoInts")serviceResponseBuilder
- called for every request to build a response
ServiceServer
<T,S> ServiceServer<T,S> newServiceServer(java.lang.String serviceName, java.lang.String serviceType, ServiceResponseBuilder<T,S> serviceResponseBuilder)
newServiceServer(GraphName, String,
ServiceResponseBuilder)
<T,S> ServiceServer<T,S> getServiceServer(GraphName serviceName)
serviceName
- the GraphName
of the ServiceServer
ServiceServer
with the given name or null
if it
does not exist<T,S> ServiceServer<T,S> getServiceServer(java.lang.String serviceName)
getServiceServer(GraphName)
java.net.URI lookupServiceUri(GraphName serviceName)
serviceName
- the GraphName
of the service URI
to lookup
URI
of the service or null
if it does not existjava.net.URI lookupServiceUri(java.lang.String serviceName)
lookupServiceUri(GraphName)
<T,S> ServiceClient<T,S> newServiceClient(GraphName serviceName, java.lang.String serviceType) throws ServiceNotFoundException
ServiceClient
.
serviceName
- the name of the serviceserviceType
- the type of the service (e.g. "test_ros/AddTwoInts")
ServiceClient
ServiceNotFoundException
- thrown if no matching service could be found<T,S> ServiceClient<T,S> newServiceClient(java.lang.String serviceName, java.lang.String serviceType) throws ServiceNotFoundException
ServiceNotFoundException
newServiceClient(GraphName, String)
ParameterTree getParameterTree()
ParameterTree
to query and set parameters on the ROS
parameter server.
ParameterTree
with NameResolver
in this namespace.
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