class OroGen::ROS::Spec::Node

Representation of a ROS node as an oroGen model

Attributes

ros_name[RW]

@return [String] the name on the ROS side

ros_package[RW]

@return [String] the name of the ROS package

Public Class Methods

new(project, name = nil) click to toggle source

Calls superclass method OroGen::Spec::TaskContext.new

# File lib/orogen/ros/spec/node.rb, line 11
def initialize(project, name = nil)
    super

    @ros_name = name
    @ros_package = project.name
end

Public Instance Methods

==(other) click to toggle source

Equals operator @return [Boolean] True, if ros node and package name equal equal, False otherwise

# File lib/orogen/ros/spec/node.rb, line 54
def ==(other)
    if other.respond_to?(:ros_name)
        if ros_name.empty? || other.ros_name.empty?
            raise ArgumentError, "Cannot compare ROS Spec node with empty ros_name: #{self} vs. #{other}"
        end
        return ros_name == other.ros_name && ros_package == other.ros_package
    end
    false
end

eql?(other) click to toggle source

# File lib/orogen/ros/spec/node.rb, line 64
def eql?(other); self == other end

input_topic(topic_name, name, message_type) click to toggle source

Declares that this node subscribes to a specific topic

@param [String] topic_name the topic name @param [String] name the name on which this topic should be

registered on self

@param [String] message_type the name of the ROS message type. A

ROS mapping must exist for it

@return [InputTopic]

# File lib/orogen/ros/spec/node.rb, line 41
def input_topic(topic_name, name, message_type)
    data_type = project.ros_loader.map_message_type_to_orogen(message_type)
    topic = input_port(name, data_type, :class => InputTopic)
    topic.ros_name = ROS.normalize_topic_name(topic_name)
    topic
end

output_topic(topic_name, name, message_type) click to toggle source

Declares that this node produces data on a specific topic

@param [String] topic_name the topic name @param [String] name the name on which this topic should be

registered on self

@param [String] message_type the name of the ROS message type. A

ROS mapping must exist for it

@return [OutputTopic]

# File lib/orogen/ros/spec/node.rb, line 26
def output_topic(topic_name, name, message_type)
    data_type = project.ros_loader.map_message_type_to_orogen(message_type)
    topic = output_port(name, data_type, :class => OutputTopic)
    topic.ros_name = ROS.normalize_topic_name(topic_name)
    topic
end

to_s() click to toggle source

# File lib/orogen/ros/spec/node.rb, line 48
def to_s
    "#{self.class} ros_name: #{ros_name}, ros_package: #{ros_package}"
end