4.3. System Handle

class eprosima::is::sh::ros2::SystemHandle : public virtual eprosima::is::FullSystem

Implements all the interface defined for the Integration Service FullSystem, for the ROS 2 ecosystem.

Some changes might be needed to support ROS 2 Galactic, the forthcoming version of ROS 2. This will be mainly related to the use of the new API for setting the DOMAIN ID within every ROS 2 node, instead of using the ROS_DOMAIN_ID environment variable.

Note

This SystemHandle is currently prepared to support the latests distributions of ROS 2, that is, Foxy Fitzroy and Galactic Geochelone.

Public Functions

SystemHandle()

Construct a new SystemHandle object.

bool configure(const core::RequiredTypes &types, const YAML::Node &configuration, TypeRegistry &type_registry) override

Inherited from SystemHandle.

bool okay() const override

Inherited from SystemHandle.

bool spin_once() override

Inherited from SystemHandle.

~SystemHandle() override

Inherited from SystemHandle.

bool subscribe(const std::string &topic_name, const xtypes::DynamicType &message_type, SubscriptionCallback *callback, const YAML::Node &configuration) override

Inherited from TopicSubscriberSystem.

bool is_internal_message(void *filter_handle) override

Inherited from TopicSubscriberSystem.

std::shared_ptr<TopicPublisher> advertise(const std::string &topic_name, const xtypes::DynamicType &message_type, const YAML::Node &configuration) override

Inherited from TopicPublisherSystem.

bool create_client_proxy(const std::string &service_name, const xtypes::DynamicType &service_type, RequestCallback *callback, const YAML::Node &configuration) override

Inherited from ServiceClientSystem.

bool create_client_proxy(const std::string &service_name, const xtypes::DynamicType&, const xtypes::DynamicType &reply_type, RequestCallback *callback, const YAML::Node &configuration) override

Inherited from ServiceClientSystem.

std::shared_ptr<ServiceProvider> create_service_proxy(const std::string &service_name, const xtypes::DynamicType &service_type, const YAML::Node &configuration) override

Inherited from ServiceProviderSystem.

std::shared_ptr<ServiceProvider> create_service_proxy(const std::string &service_name, const xtypes::DynamicType &request_type, const xtypes::DynamicType&, const YAML::Node &configuration) override

Inherited from ServiceProviderSystem.