DebugDataPublisher Class Reference

Debug data publisher. Supports adding/updating named variables and batch publishing. More...

#include <DebugDataPublisher.h>

Public Member Functions
	DebugDataPublisher (ros::NodeHandle &nh, const std::string &topic="debug_data", int queue_size=5)
	Construct and initialize the publisher.
void	add (const std::string &name, double value)
	Add or update a debug variable, stamped at current time.
void	add (const std::string &name, double value, const ros::Time &stamp)
	Add or update a debug variable with a custom timestamp.
void	publish ()
	Publish accumulated debug data and clear.
void	publishAndKeep ()
	Publish accumulated debug data without clearing. Useful for persistent variables.
void	clear ()
	Clear all stored debug data.

Detailed Description

Debug data publisher. Supports adding/updating named variables and batch publishing.

Constructor & Destructor Documentation

DebugDataPublisher()

DebugDataPublisher::DebugDataPublisher ( ros::NodeHandle & nh, const std::string & topic = "debug_data", int queue_size = 5 )

inlineexplicit

Construct and initialize the publisher.

Parameters

nh	ROS NodeHandle used for advertise.
topic	Topic name, defaults to "debug_data".
queue_size	Publish queue size, defaults to 5.

Member Function Documentation

add() [1/2]

void DebugDataPublisher::add ( const std::string & name, double value )

inline

Add or update a debug variable, stamped at current time.

Parameters

name	Variable name. Duplicates update the existing entry.
value	Variable value.

add() [2/2]

void DebugDataPublisher::add ( const std::string & name, double value, const ros::Time & stamp )

inline

Add or update a debug variable with a custom timestamp.

Parameters

name	Variable name. Duplicates update the existing entry.
value	Variable value.
stamp	Custom timestamp.

clear()

void DebugDataPublisher::clear ( )

inline

Clear all stored debug data.

publish()

void DebugDataPublisher::publish ( )

inline

Publish accumulated debug data and clear.

publishAndKeep()

void DebugDataPublisher::publishAndKeep ( )

inline

Publish accumulated debug data without clearing. Useful for persistent variables.

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

• rm_common/include/rm_common/DebugDataPublisher.h