px4_ros2::Subscription< RosMessageType > Class Template Reference

Provides a subscription to arbitrary ROS topics. More...

#include <px4_ros2/utils/subscription.hpp>

Public Member Functions
	Subscription (Context &context, const std::string &topic)
void	onUpdate (const UpdateCallback &callback)
	Add a callback to execute when receiving a new message. More...
const RosMessageType &	last () const
	Get the last-received message. More...
const rclcpp::Time &	lastTime () const
	Get the receive-time of the last message. More...
template<typename DurationT = std::milli>
bool	lastValid (const std::chrono::duration< int64_t, DurationT > max_delay=500ms) const
	Check whether the last message is still valid. To be valid, the message must have been received within a given time of the current time. More...

Protected Attributes
rclcpp::Node &	_node

Detailed Description

template<typename RosMessageType>
class px4_ros2::Subscription< RosMessageType >

Provides a subscription to arbitrary ROS topics.

Member Function Documentation

last()

template<typename RosMessageType >

const RosMessageType& px4_ros2::Subscription< RosMessageType >::last ( ) const

inline

Get the last-received message.

Returns

the last-received ROS message

Exceptions

std::runtime_error

when no messages have been received

lastTime()

template<typename RosMessageType >

const rclcpp::Time& px4_ros2::Subscription< RosMessageType >::lastTime ( ) const

inline

Get the receive-time of the last message.

Returns

the time at which the last ROS message was received

lastValid()

template<typename RosMessageType >

template<typename DurationT = std::milli>

bool px4_ros2::Subscription< RosMessageType >::lastValid ( const std::chrono::duration< int64_t, DurationT >  max_delay = 500ms ) const

inline

Check whether the last message is still valid. To be valid, the message must have been received within a given time of the current time.

Parameters

max_delay

the maximum delay between the current time and when the message was received

Returns

true if the last message was received within the maximum delay

onUpdate()

template<typename RosMessageType >

void px4_ros2::Subscription< RosMessageType >::onUpdate ( const UpdateCallback &  callback )

inline

Add a callback to execute when receiving a new message.

Parameters

callback

the callback function

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

• px4_ros2_cpp/include/px4_ros2/utils/subscription.hpp