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title author date subtitle documentclass numbersections toc
ros_common
Roland Jung
Control of Networked Systems, University of Klagenfurt, Austria
06.11.2023
Version 1.0
scrartcl
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true

ros_common

ROS package containing basic node/package features which are needed for the ROS example_node package

Maintainer: @rojung

ros_common

Getting Started

Tested for ROS Kinetic or later.

Usage

Derive from abstract base class INode if you need the following functionalty:

* abstract baseclass for node with custom spinning
* order of execution of virtual methods:
*  1) init_topics() subscribe and publish topics, initialize message independet stuff
*  1.1) print_topic_info()
*  2) load_config()
*  3) init() called after first message is arrived
*  4) process() called with each message
*
*  signal run() that new data is arrived with the mbHasNewMessage flag
*
*  params:
*   node_profile: enable timing mesauremnet for process() and overhead
*   node_spinning_rate: desired spinning rate [Hz]. default 50 Hz
*   node_warn_time: warn if no message arrived in X s. default 15 (0 do disable)

Dependencies

  • roscpp
  • dynamic_reconfigure