Namespace used to provide discovery functionalities. More...
#include <thread>#include <chrono>#include "CBorStream.h"#include "rmw/types.h"#include "rmw/error_handling.h"#include "rmw_context_impl_s.h"#include "demangle.h"
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Namespaces | |
| namespace | Discovery |
| Namespace containing discovery functions. | |
Functions | |
| void | Discovery::discovery_thread (rmw_context_impl_t *impl) |
| Thread handling discovery beacons. | |
| rmw_ret_t | Discovery::discovery_thread_start (rmw_context_impl_t *impl) |
| Initialize the discovery thread. | |
| rmw_ret_t | Discovery::discovery_thread_stop (rmw_context_impl_t *impl) |
| Stop the discovery thread. | |
| void | Discovery::send_discovery_beacon (cbor::TxStream stream, std::string node_name, std::string node_namespace, int entity_type, rmw_gid_t entity_gid, std::string topic_name, std::string type_name, bool disconnect) |
| Send a discovery beacon. | |
| void | Discovery::send_discovery_request (cbor::TxStream stream) |
| Send a discovery request. | |
Detailed Description
Namespace used to provide discovery functionalities.
The middleware layer of a ROS stack must implement functionalities used to inform each node of the network structure of the other nodes connected, with their names and topics. Since this operation is quite resource-consuming and the underwater channel has a limited bandwidth, it is possible to disable it.
