AutoAPMS - Core

Classes
class	ActionClientWrapper< ActionT >
class	Task< ActionT >

Enumerations
enum class	ActionGoalStatus : uint8_t { REJECTED = 0 , RUNNING , COMPLETED }
enum class	TaskStatus : uint8_t { RUNNING , SUCCESS , FAILURE }

Functions
std::set< std::string >	getAllPackagesWithResource (const std::string &resource_type)
std::vector< std::string >	collectPluginXMLPaths (const std::string &resource_type, const std::set< std::string > &search_packages={})
enum class	TextColor {   GREEN , RED , YELLOW , BLUE ,   MAGENTA , CYAN }
std::string	makeColoredText (const std::string &text, TextColor color)
std::vector< std::string >	splitString (const std::string &str, const std::string &delimiter, bool preserve_empty=true)

Detailed Description

Fundamental base classes and utility functions.

Enumeration Type Documentation

ActionGoalStatus

enum class ActionGoalStatus : uint8_t

strong

Enum for indicating a ROS 2 action goal's current status.

It is used to represent the internal state of auto_apms_core::ActionClientWrapper.

Enumerator
REJECTED
RUNNING
COMPLETED

Definition at line 33 of file action_client.hpp.

TaskStatus

enum class TaskStatus : uint8_t

strong

Status of the auto_apms_core::Task execution process.

Enumerator
RUNNING
SUCCESS
FAILURE

Definition at line 36 of file task.hpp.

TextColor

enum class TextColor

strong

Enumerator
GREEN
RED
YELLOW
BLUE
MAGENTA
CYAN

Definition at line 25 of file string.hpp.

Function Documentation

getAllPackagesWithResource()

std::set< std::string > getAllPackagesWithResource

(

const std::string &

resource_type

)

Collect all package names that register a certain type of ament_index resources.

Note

Resources are not available until the respective ROS2 package is installed.

Parameters

resource_type

Name of the resource type.

Returns

Package names.

Exceptions

exceptions::ResourceNotFoundError

if no resources of type resource_type were found.

Definition at line 25 of file resources.cpp.

collectPluginXMLPaths()

std::vector< std::string > collectPluginXMLPaths	(	const std::string &	resource_type,
		const std::set< std::string > &	search_packages = {} )

Collect the paths of plugin.xml manifest files used for initializing pluginlib::ClassLoader objects.

This function requires packages to install plugins.xml manifest files and register them as an ament_index resource.

Parameters

resource_type	Name of the ament_index resource type containing the path to the plugins.xml manifest file relative to the package's install prefix.
search_packages	Packages to consider when searching for plugin resources. Leave empty to search in all packages.

Returns

Vector of file paths.

Exceptions

auto_apms_core::exceptions::ResourceNotFoundError

if failed to find a corresponding file in a package specified in search_packages or if an ament_index resource marker file is invalid.

Definition at line 40 of file resources.cpp.

makeColoredText()

std::string makeColoredText	(	const std::string &	text,
		TextColor	color )

Add ANSI color escape sequences to display the text in color when printed to console.

The text color will be reset to default after the text ends.

Parameters

text	Text to be displayed.
color	Desired color of the text.

Returns

String including corresponding ANSI color escape sequences.

Definition at line 45 of file string.cpp.

splitString()

std::vector< std::string > splitString	(	const std::string &	str,
		const std::string &	delimiter,
		bool	preserve_empty = true )

Split a string into multiple tokens using a specific delimiter string (Delimiter may consist of multiple characters).

Will preserve empty strings if preserve_empty is true (Default), so for example with the delimiter being :: passing the string ::foo will output a vector with two elements {"", "foo"}.

Parameters

[in]	str	String to split into multiple tokens.
[in]	delimiter	Delimiter string at which the string shall be split.
[in]	preserve_empty	Preserve empty string tokens in the result vector.

Returns

Vector of string representing the string's tokens without the delimiter.

Definition at line 24 of file string.cpp.