fpsdk::ros1::utils Namespace Reference

ROS1 utilities. More...

Functions
void	RedirectLoggingToRosConsole (const char *logger_name=ROSCONSOLE_DEFAULT_NAME)
	Redirect fpsdk:common::logging to ROS console.
bool	LoadRosParam (const std::string &name, int &value)
	Loads a parameter from the ROS parameter server (int)
bool	LoadRosParam (const std::string &name, std::string &value)
	Loads a parameter from the ROS parameter server (string)
bool	LoadRosParam (const std::string &name, bool &value)
	Loads a parameter from the ROS parameter server (bool)
bool	LoadRosParam (const std::string &name, float &value)
	Loads a parameter from the ROS parameter server (float)
bool	LoadRosParam (const std::string &name, double &value)
	Loads a parameter from the ROS parameter server (double)
bool	LoadRosParam (const std::string &name, std::vector< std::string > &value)
	Loads a parameter from the ROS parameter server (list of strings)
ros::Time	ConvTime (const fpsdk::common::time::Time &time)
	Convert to ROS time (atomic -> POSIX)
fpsdk::common::time::Time	ConvTime (const ros::Time &time)
	Convert from ROS time (POSIX -> atomic)

Detailed Description

ROS1 utilities.

Function Documentation

RedirectLoggingToRosConsole()

void fpsdk::ros1::utils::RedirectLoggingToRosConsole

(

const char *

logger_name = ROSCONSOLE_DEFAULT_NAME

)

Redirect fpsdk:common::logging to ROS console.

This configures the fpsdk::common::logging facility to output via the ROS console. This does not configure the ROS console (logger level, logger name, etc.).

The mapping of fpsdk::common::logging::LoggingLevel to ros::console::levels is as follows:

• TRACE and DEBUG --> DEBUG
• INFO and NOTICE --> INFO
• WARNING --> WARN
• ERROR --> ERROR
• FATAL --> FATAL

Parameters

[in]

logger_name

The name of the logger. The default value should give the caller package's ROSCONSOLE_DEFAULT_NAME, for example, "ros1_fpsdk_demo". That is, typically this argument should be left empty (the default value).

LoadRosParam() [1/6]

bool fpsdk::ros1::utils::LoadRosParam	(	const std::string &	name,
		int &	value )

Loads a parameter from the ROS parameter server (int)

Parameters

[in]	name	The parameter name
[out]	value	The value

Returns

true if parameter found and loaded, false otherwise

LoadRosParam() [2/6]

bool fpsdk::ros1::utils::LoadRosParam	(	const std::string &	name,
		std::string &	value )

Loads a parameter from the ROS parameter server (string)

Parameters

[in]	name	The parameter name
[out]	value	The value

Returns

true if parameter found and loaded, false otherwise

LoadRosParam() [3/6]

bool fpsdk::ros1::utils::LoadRosParam	(	const std::string &	name,
		bool &	value )

Loads a parameter from the ROS parameter server (bool)

Parameters

[in]	name	The parameter name
[out]	value	The value

Returns

true if parameter found and loaded, false otherwise

LoadRosParam() [4/6]

bool fpsdk::ros1::utils::LoadRosParam	(	const std::string &	name,
		float &	value )

Loads a parameter from the ROS parameter server (float)

Parameters

[in]	name	The parameter name
[out]	value	The value

Returns

true if parameter found and loaded, false otherwise

LoadRosParam() [5/6]

bool fpsdk::ros1::utils::LoadRosParam	(	const std::string &	name,
		double &	value )

Loads a parameter from the ROS parameter server (double)

Parameters

[in]	name	The parameter name
[out]	value	The value

Returns

true if parameter found and loaded, false otherwise

LoadRosParam() [6/6]

bool fpsdk::ros1::utils::LoadRosParam	(	const std::string &	name,
		std::vector< std::string > &	value )

Loads a parameter from the ROS parameter server (list of strings)

Parameters

[in]	name	The parameter name
[out]	value	The value

Returns

true if parameter found and loaded, false otherwise

ConvTime() [1/2]

ros::Time fpsdk::ros1::utils::ConvTime

(

const fpsdk::common::time::Time &

time

)

Convert to ROS time (atomic -> POSIX)

Parameters

[in]

time

The Time object (atomic)

Returns

the ROS time object (POSIX)

ConvTime() [2/2]

fpsdk::common::time::Time fpsdk::ros1::utils::ConvTime

(

const ros::Time &

time

)

Convert from ROS time (POSIX -> atomic)

Parameters

[in]

time

The ROS time object (POSIX)

Returns

the Time object (atomic)