A class that allows a client to communicate with other peers. More...

#include <ignition/transport/Node.hh>

Classes
class	Publisher
	A class that is used to store information about an advertised publisher. More...

Public Member Functions
	Node (const NodeOptions &_options=NodeOptions())
	Constructor. More...

virtual	~Node ()
	Destructor. More...

template<typename T >
Node::Publisher	Advertise (const std::string &_topic, const AdvertiseMessageOptions &_options=AdvertiseMessageOptions())
	Advertise a new topic. More...

Node::Publisher	Advertise (const std::string &_topic, const std::string &_msgTypeName, const AdvertiseMessageOptions &_options=AdvertiseMessageOptions())
	Advertise a new topic. More...

template<typename T1 , typename T2 >
bool	Advertise (const std::string &_topic, void(*_cb)(const T1 &_req, T2 &_rep, bool &_result), const AdvertiseServiceOptions &_options=AdvertiseServiceOptions())
	Advertise a new service. More...

template<typename T >
bool	Advertise (const std::string &_topic, void(*_cb)(T &_rep, bool &_result), const AdvertiseServiceOptions &_options=AdvertiseServiceOptions())
	Advertise a new service without input parameter. More...

template<typename T >
bool	Advertise (const std::string &_topic, void(*_cb)(const T &_req), const AdvertiseServiceOptions &_options=AdvertiseServiceOptions())
	Advertise a new service without any output parameter. More...

template<typename T1 , typename T2 >
bool	Advertise (const std::string &_topic, std::function< void(const T1 &_req, T2 &_rep, bool &_result)> &_cb, const AdvertiseServiceOptions &_options=AdvertiseServiceOptions())
	Advertise a new service. More...

template<typename T >
bool	Advertise (const std::string &_topic, std::function< void(T &_rep, bool &_result)> &_cb, const AdvertiseServiceOptions &_options=AdvertiseServiceOptions())
	Advertise a new service without input parameter. More...

template<typename T >
bool	Advertise (const std::string &_topic, std::function< void(const T &_req)> &_cb, const AdvertiseServiceOptions &_options=AdvertiseServiceOptions())
	Advertise a new service without any output parameter. More...

template<typename C , typename T1 , typename T2 >
bool	Advertise (const std::string &_topic, void(C::_cb)(const T1 &_req, T2 &_rep, bool &_result), C _obj, const AdvertiseServiceOptions &_options=AdvertiseServiceOptions())
	Advertise a new service. More...

template<typename C , typename T >
bool	Advertise (const std::string &_topic, void(C::_cb)(T &_rep, bool &_result), C _obj, const AdvertiseServiceOptions &_options=AdvertiseServiceOptions())
	Advertise a new service without input parameter. More...

template<typename C , typename T >
bool	Advertise (const std::string &_topic, void(C::_cb)(const T &_req), C _obj, const AdvertiseServiceOptions &_options=AdvertiseServiceOptions())
	Advertise a new service without any output parameter. More...

std::vector< std::string >	AdvertisedServices () const
	Get the list of services advertised by this node. More...

std::vector< std::string >	AdvertisedTopics () const
	Get the list of topics advertised by this node. More...

template<typename T1 , typename T2 >
bool	Request (const std::string &_topic, const T1 &_req, void(*_cb)(const T2 &_rep, const bool _result))
	Request a new service using a non-blocking call. More...

template<typename T >
bool	Request (const std::string &_topic, void(*_cb)(const T &_rep, const bool _result))
	Request a new service without input parameter using a non-blocking call. More...

template<typename T1 , typename T2 >
bool	Request (const std::string &_topic, const T1 &_req, std::function< void(const T2 &_rep, const bool _result)> &_cb)
	Request a new service using a non-blocking call. More...

template<typename T >
bool	Request (const std::string &_topic, std::function< void(const T &_rep, const bool _result)> &_cb)
	Request a new service without input parameter using a non-blocking call. More...

template<typename C , typename T1 , typename T2 >
bool	Request (const std::string &_topic, const T1 &_req, void(C::_cb)(const T2 &_rep, const bool _result), C _obj)
	Request a new service using a non-blocking call. More...

template<typename C , typename T >
bool	Request (const std::string &_topic, void(C::_cb)(const T &_rep, const bool _result), C _obj)
	Request a new service without input parameter using a non-blocking call. More...

template<typename T1 , typename T2 >
bool	Request (const std::string &_topic, const T1 &_req, const unsigned int &_timeout, T2 &_rep, bool &_result)
	Request a new service using a blocking call. More...

template<typename T >
bool	Request (const std::string &_topic, const unsigned int &_timeout, T &_rep, bool &_result)
	Request a new service without input parameter using a blocking call. More...

template<typename T >
bool	Request (const std::string &_topic, const T &_req)
	Request a new service without waiting for response. More...

bool	ServiceInfo (const std::string &_service, std::vector< ServicePublisher > &_publishers) const
	Get the information about a service. More...

void	ServiceList (std::vector< std::string > &_services) const
	Get the list of topics currently advertised in the network. More...

template<typename T >
bool	Subscribe (const std::string &_topic, void(*_cb)(const T &_msg), const SubscribeOptions &_opts=SubscribeOptions())
	Subscribe to a topic registering a callback. More...

template<typename T >
bool	Subscribe (const std::string &_topic, std::function< void(const T &_msg)> &_cb, const SubscribeOptions &_opts=SubscribeOptions())
	Subscribe to a topic registering a callback. More...

template<typename C , typename T >
bool	Subscribe (const std::string &_topic, void(C::_cb)(const T &_msg), C _obj, const SubscribeOptions &_opts=SubscribeOptions())
	Subscribe to a topic registering a callback. More...

template<typename T >
bool	Subscribe (const std::string &_topic, void(*_cb)(const T &_msg, const MessageInfo &_info), const SubscribeOptions &_opts=SubscribeOptions())
	Subscribe to a topic registering a callback. More...

template<typename T >
bool	Subscribe (const std::string &_topic, std::function< void(const T &_msg, const MessageInfo &_info)> &_cb, const SubscribeOptions &_opts=SubscribeOptions())
	Subscribe to a topic registering a callback. More...

template<typename C , typename T >
bool	Subscribe (const std::string &_topic, void(C::_cb)(const T &_msg, const MessageInfo &_info), C _obj, const SubscribeOptions &_opts=SubscribeOptions())
	Subscribe to a topic registering a callback. More...

std::vector< std::string >	SubscribedTopics () const
	Get the list of topics subscribed by this node. More...

bool	TopicInfo (const std::string &_topic, std::vector< MessagePublisher > &_publishers) const
	Get the information about a topic. More...

void	TopicList (std::vector< std::string > &_topics) const
	Get the list of topics currently advertised in the network. More...

bool	UnadvertiseSrv (const std::string &_topic)
	Unadvertise a service. More...

bool	Unsubscribe (const std::string &_topic)
	Unsubscribe from a topic. More...

Detailed Description

A class that allows a client to communicate with other peers.

There are two main communication modes: pub/sub messages and service calls.

Constructor & Destructor Documentation

ignition::transport::Node::Node ( const NodeOptions & _options = NodeOptions() )

explicit

Constructor.

Parameters

[in] _options Node options.

virtual ignition::transport::Node::~Node ( )

virtual

Destructor.

Member Function Documentation

template<typename T >

Node::Publisher ignition::transport::Node::Advertise	(	const std::string &	_topic,
		const AdvertiseMessageOptions &	_options = `AdvertiseMessageOptions()`
	)

inline

Advertise a new topic.

If a topic is currently advertised, you cannot advertise it a second time (regardless of its type).

Parameters

[in]	_topic	Topic name to be advertised.
[in]	_options	Advertise options.

Returns: A PublisherId, which can be used in Node::Publish calls. The PublisherId also acts as boolean, where true occurs if the topic was succesfully advertised.

See Also: AdvertiseOptions.

Node::Publisher ignition::transport::Node::Advertise	(	const std::string &	_topic,
		const std::string &	_msgTypeName,
		const AdvertiseMessageOptions &	_options = `AdvertiseMessageOptions()`
	)

inline

Advertise a new topic.

If a topic is currently advertised, you cannot advertise it a second time (regardless of its type).

Parameters

[in]	_topic	Topic name to be advertised.
[in]	_msgTypeName	Name of the message type that will be published on the topic. The message type name can be retrieved from a protobuf message using the GetTypeName() function.
[in]	_options	Advertise options.

Returns: A PublisherId, which can be used in Node::Publish calls. The PublisherId also acts as boolean, where true occurs if the topic was succesfully advertised.

See Also: AdvertiseOptions.

References ignition::transport::TopicUtils::FullyQualifiedName().

template<typename T1 , typename T2 >

bool ignition::transport::Node::Advertise	(	const std::string &	_topic,
		void(*)(const T1 &_req, T2 &_rep, bool &_result)	_cb,
		const AdvertiseServiceOptions &	_options = `AdvertiseServiceOptions()`
	)

inline

Advertise a new service.

In this version the callback is a free function.

Parameters

[in]	_topic	Topic name associated to the service.
[in]	_cb	Callback to handle the service request with the following parameters:
[in]	_req	Protobuf message containing the request.
[out]	_rep	Protobuf message containing the response.
[out]	_result	Service call result.
[in]	_options	Advertise options.

Returns: true when the topic has been successfully advertised or false otherwise.

See Also: AdvertiseOptions.

template<typename T >

bool ignition::transport::Node::Advertise	(	const std::string &	_topic,
		void(*)(T &_rep, bool &_result)	_cb,
		const AdvertiseServiceOptions &	_options = `AdvertiseServiceOptions()`
	)

inline

Advertise a new service without input parameter.

In this version the callback is a free function.

Parameters

[in]	_topic	Topic name associated to the service.
[in]	_cb	Callback to handle the service request with the following parameters:
[out]	_rep	Protobuf message containing the response.
[out]	_result	Service call result.
[in]	_options	Advertise options.

Returns: true when the topic has been successfully advertised or false otherwise.

See Also: AdvertiseOptions.

template<typename T >

bool ignition::transport::Node::Advertise	(	const std::string &	_topic,
		void(*)(const T &_req)	_cb,
		const AdvertiseServiceOptions &	_options = `AdvertiseServiceOptions()`
	)

inline

Advertise a new service without any output parameter.

In this version the callback is a free function.

Parameters

[in]	_topic	Topic name associated to the service.
[in]	_cb	Callback to handle the service request with the following parameters:
[in]	_req	Protobuf message containing the request.
[in]	_options	Advertise options.

Returns: true when the topic has been successfully advertised or false otherwise.

See Also: AdvertiseOptions.

template<typename T1 , typename T2 >

bool ignition::transport::Node::Advertise	(	const std::string &	_topic,
		std::function< void(const T1 &_req, T2 &_rep, bool &_result)> &	_cb,
		const AdvertiseServiceOptions &	_options = `AdvertiseServiceOptions()`
	)

inline

Advertise a new service.

In this version the callback is a lambda function.

Parameters

[in]	_topic	Topic name associated to the service.
[in]	_cb	Callback to handle the service request with the following parameters:
[in]	_req	Protobuf message containing the request.
[out]	_rep	Protobuf message containing the response.
[out]	_result	Service call result.
[in]	_options	Advertise options.

Returns: true when the topic has been successfully advertised or false otherwise.

See Also: AdvertiseOptions.

References ignition::transport::TopicUtils::FullyQualifiedName().

template<typename T >

bool ignition::transport::Node::Advertise	(	const std::string &	_topic,
		std::function< void(T &_rep, bool &_result)> &	_cb,
		const AdvertiseServiceOptions &	_options = `AdvertiseServiceOptions()`
	)

inline

Advertise a new service without input parameter.

In this version the callback is a lambda function.

Parameters

[in]	_topic	Topic name associated to the service.
[in]	_cb	Callback to handle the service request with the following parameters:
[out]	_rep	Protobuf message containing the response.
[out]	_result	Service call result.
[in]	_options	Advertise options.

Returns: true when the topic has been successfully advertised or false otherwise.

See Also: AdvertiseOptions.

template<typename T >

bool ignition::transport::Node::Advertise	(	const std::string &	_topic,
		std::function< void(const T &_req)> &	_cb,
		const AdvertiseServiceOptions &	_options = `AdvertiseServiceOptions()`
	)

inline

Advertise a new service without any output parameter.

In this version the callback is a lambda function.

Parameters

[in]	_topic	Topic name associated to the service.
[in]	_cb	Callback to handle the service request with the following parameters:
[in]	_req	Protobuf message containing the request.
[in]	_options	Advertise options.

Returns: true when the topic has been successfully advertised or false otherwise.

See Also: AdvertiseOptions.

template<typename C , typename T1 , typename T2 >

bool ignition::transport::Node::Advertise	(	const std::string &	_topic,
		void(C::*)(const T1 &_req, T2 &_rep, bool &_result)	_cb,
		C *	_obj,
		const AdvertiseServiceOptions &	_options = `AdvertiseServiceOptions()`
	)

inline

Advertise a new service.

In this version the callback is a member function.

Parameters

[in]	_topic	Topic name associated to the service.
[in]	_cb	Callback to handle the service request with the following parameters:
[in]	_req	Protobuf message containing the request.
[out]	_rep	Protobuf message containing the response.
[out]	_result	Service call result.
[in]	_obj	Instance containing the member function.
[in]	_options	Advertise options.

Returns: true when the topic has been successfully advertised or false otherwise.

See Also: AdvertiseOptions.

template<typename C , typename T >

bool ignition::transport::Node::Advertise	(	const std::string &	_topic,
		void(C::*)(T &_rep, bool &_result)	_cb,
		C *	_obj,
		const AdvertiseServiceOptions &	_options = `AdvertiseServiceOptions()`
	)

inline

Advertise a new service without input parameter.

In this version the callback is a member function.

Parameters

[in]	_topic	Topic name associated to the service.
[in]	_cb	Callback to handle the service request with the following parameters:
[out]	_rep	Protobuf message containing the response.
[out]	_result	Service call result.
[in]	_obj	Instance containing the member function.
[in]	_options	Advertise options.

Returns: true when the topic has been successfully advertised or false otherwise.

See Also: AdvertiseOptions.

template<typename C , typename T >

bool ignition::transport::Node::Advertise	(	const std::string &	_topic,
		void(C::*)(const T &_req)	_cb,
		C *	_obj,
		const AdvertiseServiceOptions &	_options = `AdvertiseServiceOptions()`
	)

inline

Advertise a new service without any output parameter.

In this version the callback is a member function.

Parameters

[in]	_topic	Topic name associated to the service.
[in]	_cb	Callback to handle the service request with the following parameters:
[in]	_req	Protobuf message containing the request.
[in]	_obj	Instance containing the member function.
[in]	_options	Advertise options.

Returns: true when the topic has been successfully advertised or false otherwise.

See Also: AdvertiseOptions

std::vector<std::string> ignition::transport::Node::AdvertisedServices ( ) const

Get the list of services advertised by this node.

Returns: A vector containing all services advertised by this node.

std::vector<std::string> ignition::transport::Node::AdvertisedTopics ( ) const

Get the list of topics advertised by this node.

Returns: A vector containing all the topics advertised by this node.

template<typename T1 , typename T2 >

bool ignition::transport::Node::Request	(	const std::string &	_topic,
		const T1 &	_req,
		void(*)(const T2 &_rep, const bool _result)	_cb
	)

inline

Request a new service using a non-blocking call.

In this version the callback is a free function.

Parameters

[in]	_topic	Service name requested.
[in]	_req	Protobuf message containing the request's parameters.
[in]	_cb	Pointer to the callback function executed when the response arrives. The callback has the following parameters:
[in]	_rep	Protobuf message containing the response.
[in]	_result	Result of the service call. If false, there was a problem executing your request.

Returns: true when the service call was succesfully requested.

template<typename T >

bool ignition::transport::Node::Request	(	const std::string &	_topic,
		void(*)(const T &_rep, const bool _result)	_cb
	)

inline

Request a new service without input parameter using a non-blocking call.

In this version the callback is a free function.

Parameters

[in]	_topic	Service name requested.
[in]	_cb	Pointer to the callback function executed when the response arrives. The callback has the following parameters:
[in]	_rep	Protobuf message containing the response.
[in]	_result	Result of the service call. If false, there was a problem executing your request.

Returns: true when the service call was succesfully requested.

template<typename T1 , typename T2 >

bool ignition::transport::Node::Request	(	const std::string &	_topic,
		const T1 &	_req,
		std::function< void(const T2 &_rep, const bool _result)> &	_cb
	)

inline

Request a new service using a non-blocking call.

In this version the callback is a lambda function.

Parameters

[in]	_topic	Service name requested.
[in]	_req	Protobuf message containing the request's parameters.
[in]	_cb	Lambda function executed when the response arrives. The callback has the following parameters:
[in]	_rep	Protobuf message containing the response.
[in]	_result	Result of the service call. If false, there was a problem executing your request.

Returns: true when the service call was succesfully requested.

References ignition::transport::TopicUtils::FullyQualifiedName().

template<typename T >

bool ignition::transport::Node::Request	(	const std::string &	_topic,
		std::function< void(const T &_rep, const bool _result)> &	_cb
	)

inline

Request a new service without input parameter using a non-blocking call.

In this version the callback is a lambda function.

Parameters

[in]	_topic	Service name requested.
[in]	_cb	Lambda function executed when the response arrives. The callback has the following parameters:
[in]	_rep	Protobuf message containing the response.
[in]	_result	Result of the service call. If false, there was a problem executing your request.

Returns: true when the service call was succesfully requested.

template<typename C , typename T1 , typename T2 >

bool ignition::transport::Node::Request	(	const std::string &	_topic,
		const T1 &	_req,
		void(C::*)(const T2 &_rep, const bool _result)	_cb,
		C *	_obj
	)

inline

Request a new service using a non-blocking call.

In this version the callback is a member function.

Parameters

[in]	_topic	Service name requested.
[in]	_req	Protobuf message containing the request's parameters.
[in]	_cb	Pointer to the callback function executed when the response arrives. The callback has the following parameters:
[in]	_rep	Protobuf message containing the response.
[in]	_result	Result of the service call. If false, there was a problem executing your request.
[in]	_obj	Instance containing the member function.

Returns: true when the service call was succesfully requested.

template<typename C , typename T >

bool ignition::transport::Node::Request	(	const std::string &	_topic,
		void(C::*)(const T &_rep, const bool _result)	_cb,
		C *	_obj
	)

inline

Request a new service without input parameter using a non-blocking call.

In this version the callback is a member function.

Parameters

[in]	_topic	Service name requested.
[in]	_cb	Pointer to the callback function executed when the response arrives. The callback has the following parameters:
[in]	_rep	Protobuf message containing the response.
[in]	_result	Result of the service call. If false, there was a problem executing your request.
[in]	_obj	Instance containing the member function.

Returns: true when the service call was succesfully requested.

template<typename T1 , typename T2 >

bool ignition::transport::Node::Request	(	const std::string &	_topic,
		const T1 &	_req,
		const unsigned int &	_timeout,
		T2 &	_rep,
		bool &	_result
	)

inline

Request a new service using a blocking call.

Parameters

[in]	_topic	Service name requested.
[in]	_req	Protobuf message containing the request's parameters.
[in]	_timeout	The request will timeout after '_timeout' ms.
[out]	_rep	Protobuf message containing the response.
[out]	_result	Result of the service call.

Returns: true when the request was executed or false if the timeout expired.

References ignition::transport::TopicUtils::FullyQualifiedName().

template<typename T >

bool ignition::transport::Node::Request	(	const std::string &	_topic,
		const unsigned int &	_timeout,
		T &	_rep,
		bool &	_result
	)

inline

Request a new service without input parameter using a blocking call.

Parameters

[in]	_topic	Service name requested.
[in]	_timeout	The request will timeout after '_timeout' ms.
[out]	_rep	Protobuf message containing the response.
[out]	_result	Result of the service call.

Returns: true when the request was executed or false if the timeout expired.

template<typename T >

bool ignition::transport::Node::Request	(	const std::string &	_topic,
		const T &	_req
	)

inline

Request a new service without waiting for response.

Parameters

[in]	_topic	Topic requested.
[in]	_req	Protobuf message containing the request's parameters.

Returns: true when the service call was succesfully requested.

bool ignition::transport::Node::ServiceInfo	(	const std::string &	_service,
		std::vector< ServicePublisher > &	_publishers
	)		const

Get the information about a service.

Parameters

[in]	_service	Name of the service.
[out]	_publishers	List of publishers on the service.

Returns: False if unable to get service info.

void ignition::transport::Node::ServiceList ( std::vector< std::string > & _services ) const

Get the list of topics currently advertised in the network.

Note that this function can block for some time if the discovery is in its initialization phase. The value of the "heartbeatInterval" constant, with a default value of 1000ms, sets the maximum blocking time period.

Parameters

[out] _services List of advertised services.

template<typename T >

bool ignition::transport::Node::Subscribe	(	const std::string &	_topic,
		void(*)(const T &_msg)	_cb,
		const SubscribeOptions &	_opts = `SubscribeOptions()`
	)

inline

Subscribe to a topic registering a callback.

Note that this callback does not include any message information. In this version the callback is a free function.

Parameters

[in]	_topic	Topic to be subscribed.
[in]	_cb	Pointer to the callback function with the following parameters:
[in]	_msg	Protobuf message containing a new topic update.
[in]	_opts	Subscription options.

Returns: true when successfully subscribed or false otherwise.

template<typename T >

bool ignition::transport::Node::Subscribe	(	const std::string &	_topic,
		std::function< void(const T &_msg)> &	_cb,
		const SubscribeOptions &	_opts = `SubscribeOptions()`
	)

inline

Subscribe to a topic registering a callback.

Note that this callback does not include any message information. In this version the callback is a lamda function.

Parameters

[in]	_topic	Topic to be subscribed.
[in]	_cb	Lambda function with the following parameters:
[in]	_msg	Protobuf message containing a new topic update.
[in]	_opts	Subscription options.

Returns: true when successfully subscribed or false otherwise.

template<typename C , typename T >

bool ignition::transport::Node::Subscribe	(	const std::string &	_topic,
		void(C::*)(const T &_msg)	_cb,
		C *	_obj,
		const SubscribeOptions &	_opts = `SubscribeOptions()`
	)

inline

Subscribe to a topic registering a callback.

Note that this callback does not include any message information. In this version the callback is a member function.

Parameters

[in]	_topic	Topic to be subscribed.
[in]	_cb	Pointer to the callback function with the following parameters:
[in]	_msg	Protobuf message containing a new topic update.
[in]	_obj	Instance containing the member function.
[in]	_opts	Subscription options.

Returns: true when successfully subscribed or false otherwise.

template<typename T >

bool ignition::transport::Node::Subscribe	(	const std::string &	_topic,
		void(*)(const T &_msg, const MessageInfo &_info)	_cb,
		const SubscribeOptions &	_opts = `SubscribeOptions()`
	)

inline

Subscribe to a topic registering a callback.

Note that this callback includes message information. In this version the callback is a free function.

Parameters

[in]	_topic	Topic to be subscribed.
[in]	_cb	Pointer to the callback function with the following parameters:
[in]	_msg	Protobuf message containing a new topic update.
[in]	_info	Message information (e.g.: topic name).
[in]	_opts	Subscription options.

Returns: true when successfully subscribed or false otherwise.

template<typename T >

bool ignition::transport::Node::Subscribe	(	const std::string &	_topic,
		std::function< void(const T &_msg, const MessageInfo &_info)> &	_cb,
		const SubscribeOptions &	_opts = `SubscribeOptions()`
	)

inline

Subscribe to a topic registering a callback.

Note that this callback includes message information. In this version the callback is a lamda function.

Parameters

[in]	_topic	Topic to be subscribed.
[in]	_cb	Lambda function with the following parameters:
[in]	_msg	Protobuf message containing a new topic update.
[in]	_info	Message information (e.g.: topic name).
[in]	_opts	Subscription options.

Returns: true when successfully subscribed or false otherwise.

References ignition::transport::TopicUtils::FullyQualifiedName().

template<typename C , typename T >

bool ignition::transport::Node::Subscribe	(	const std::string &	_topic,
		void(C::*)(const T &_msg, const MessageInfo &_info)	_cb,
		C *	_obj,
		const SubscribeOptions &	_opts = `SubscribeOptions()`
	)

inline

Subscribe to a topic registering a callback.

Note that this callback includes message information. In this version the callback is a member function.

Parameters

[in]	_topic	Topic to be subscribed.
[in]	_cb	Pointer to the callback function with the following parameters:
[in]	_msg	Protobuf message containing a new topic update.
[in]	_info	Message information (e.g.: topic name).
[in]	_obj	Instance containing the member function.
[in]	_opts	Subscription options.

Returns: true when successfully subscribed or false otherwise.

std::vector<std::string> ignition::transport::Node::SubscribedTopics ( ) const

Get the list of topics subscribed by this node.

Note that we might be interested in one topic but we still don't know the address of a publisher.

Returns: A vector containing the subscribed topics (even if we do not have an address for a particular topic yet).

bool ignition::transport::Node::TopicInfo	(	const std::string &	_topic,
		std::vector< MessagePublisher > &	_publishers
	)		const

Get the information about a topic.

Parameters

[in]	_topic	Name of the topic.
[out]	_publishers	List of publishers on the topic

Returns: False if unable to get topic info

void ignition::transport::Node::TopicList ( std::vector< std::string > & _topics ) const

Get the list of topics currently advertised in the network.

Note that this function can block for some time if the discovery is in its initialization phase. The value of the "heartbeatInterval" constant, with a default value of 1000 ms, sets the maximum blocking time period.

Parameters

[out] _topics List of advertised topics.

bool ignition::transport::Node::UnadvertiseSrv ( const std::string & _topic )

Unadvertise a service.

Parameters

[in] _topic Service name to be unadvertised.

Returns: true if the service was successfully unadvertised.

bool ignition::transport::Node::Unsubscribe ( const std::string & _topic )

Unsubscribe from a topic.

Parameters

[in] _topic Topic name to be unsubscribed.

Returns: true when successfully unsubscribed or false otherwise.

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

Node.hh

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