bota_node (a.k.a. minimal nodewrap)

Overview

Implements several convenience classes and functions.

Differences to ROS Nodes

The bota_node is a wrapper for the official ROS node. It adds workers (high-precision version of ros::Rate class), at the cost of less stable API. If these features are not explicitly required, it is recommended to use the official ROS node.

Node.hpp

Provides an interface base class bota_node::Node, which declares init, cleanup and update functions and has a bota_worker::WorkerManager instance. Classes derived from this are compatible with the Nodewrap template. Additionally, it forwards calls of subscribe, advertise, param, advertiseService serviceClient and addWorker calls to the above mentioned functions.

Nodewrap.hpp

Convencience template, designed to be used with classes derived from bota_node::Node. It automatically sets up ros nodehandlers (with private namespace) and spinners, signal handlers (like SIGINT, …) and calls the init function on startup and cleanup on shutdown of the given Node.

Changelog for package bota_node

0.5.4 (2020-10-31)

• Merge branch 'release/0.5.3' into 'melodic-devel' Release 0.5.3 See merge request botasys/bota_driver!52
• Release 0.5.3
• merge release 0.5.2 into melodic-devel
• Contributors: Mike Karam, Mike Karamousadakis

0.5.3 (2020-10-30)

• merge release 0.5.2 into melodic-devel
• Contributors: Mike Karam

0.5.5 (2020-11-02)

• Merge branch 'release/0.5.4' into 'melodic-devel' Release 0.5.4 See merge request botasys/bota_driver!54
• Release 0.5.4
• Merge branch 'release/0.5.3' into 'melodic-devel' Release 0.5.3 See merge request botasys/bota_driver!52
• Release 0.5.3
• merge release 0.5.2 into melodic-devel
• Contributors: Mike Karam, Mike Karamousadakis

0.5.2 (2020-10-29)

• Merge branch 'feature/increment-patch-version' into 'master' Increment patch version See merge request botasys/bota_driver!48
• Increment patch version
• Merge branch 'feature/remove-any-node-dep' into 'master' Remove any_node dependency See merge request botasys/bota_driver!47
• Remove any_node dependency
• Contributors: Mike Karamousadakis

0.5.1 (2020-10-27)

• add changelog for bota_node packages
• Merge branch 'feature/remove-any-node-dep' into 'master'
• Remove any_node dependency
• Contributors: Mike Karamousadakis

0.5.6 (2020-11-03)

0.5.7 (2020-11-04)

• Fix gcc error for extended alignment
• Release master 0.5.6
• Contributors: Mike Karamousadakis

0.5.8 (2020-11-13)

• Release 0.5.7 into master
• add condition for adding -faligned-new flag in GCC
• Contributors: Mike Karamousadakis

0.5.9 (2021-02-06)

• add url to wiki
• fix catkin_lint warning: variable CMAKE_CXX_FLAGS is modified
• Contributors: Mike Karamousadakis

0.6.0 (2021-06-22)

0.6.1 (2021-09-28)

0.5.0 (2020-10-22)