ROS Index
|
cx_ros_msgs_plugin package from clips_executive repoclips_executive cx_bringup cx_clips_env_manager cx_msgs cx_plugin cx_ament_index_plugin cx_config_plugin cx_example_plugin cx_executive_plugin cx_file_load_plugin cx_protobuf_plugin cx_ros_msgs_plugin cx_tf2_pose_tracker_plugin cx_ros_comm_gen cx_tutorial_agents cx_utils |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/carologistics/clips_executive.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-06-24 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Tarik Viehmann
Authors
cx_ros_msgs_plugin
This package offers the `cx::RosMsgsPlugin’ that provides functions to interface with ros topics of any type. It makes use of the ROS introspection API to create generic publishers and subscriptions on-the-fly and to serialize and deserialize ROS messages.
Usage
Register this plugin with the plugin manager. It requires no additional configuration, an example setup is shown below:
clips_manager:
ros__parameters:
environments: ["main"]
main:
plugins: ["ros_msgs"]
ros_msgs:
plugin: "cx::RosMsgsPlugin"
CLIPS Features
This plugin defines deftemplates and user-defined functions that are described below.
Deftemplates
; Asserted by the create-subscription function.
; Retracted by the destroy-subscription function.
(deftemplate ros-msgs-subscription
(slot topic (type STRING)) ; example: "/cx_string_in"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the ros-msgs-create-publisher function.
; Retracted by the respective ros-msgs-destroy-publisher function.
(deftemplate-ros-msgs-publisher
(slot topic (type STRING)) ; example: "/cx_string_out"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the callback of a subscriber whenever a message arrives.
; Process the message and then call ros-msgs-destroy-msgs before retracting!
(deftemplate ros-msgs-message
(slot topic (type STRING)) ; example : "/cx_string_in"
(slot msg-ptr (type EXTERNAL-ADDRESS)) example: <Pointer-C-0x7f1550001d20>
)
Functions
; Create and destroy publishers and subscribers.
(ros-msgs-create-publisher ?topic-name ?msg-type) ; example args: "/cx_string_out" "std_msgs/msg/String"
(ros-msgs-destroy-publisher ?topic-name) ; example args: "/cx_string_out"
(ros-msgs-create-subscription ?topic-name ?msg-type) ; example args: "/cx_string_in" "std_msgs/msg/String"
(ros-msgs-destroy-subscription ?topic-name) ; example args: "/cx_string_in"
; Publish a given message over a topic.
; Requires the publisher to be created first using create-publisher.
(ros-msgs-publish ?msg-ptr ?topic-name)
; Create a message and return a pointer to it
(bind ?msg-ptr (ros-msgs-create-message ?msg-type)) ; example args: "std_msgs/msg/String"
; example ret: <Pointer-C-0x7f1550001d20>
; Destroy a message, call this after publishing a message or processing an incoming message to prevent it from staying in memory.
(ros-msgs-destroy-message ?msg-ptr) ; example args: <Pointer-C-0x7f1550001d20>
; Populate the field of a message.
; If the field is a message, then pass a pointer to that message obtained from ros-msgs-create-message.
(ros-msgs-set-field ?msg-ptr ?field-name ?field-value) ; example args: <Pointer-C-0x7f1550001d20> "data" "Hello World"
; Retrieve a field of a message.
; If the field is a message, then a pointer is returned that can be further inspected by passing it to ros-msgs-get-field.
(ros-msgs-get-field ?msg-ptr ?field-name)
Object Lifetimes and CLIPS
Since clips stores objects via void pointers, dynamic object lifetime management via std::shared_ptr does not work direcly from within CLIPS.
Instead, object lifetimes need to be managed more explicitly through the usage of create and destroy functions.
It is advised to clean up all objects as soon as they are not needed anymore in order to free up memory.
Note that when processing nested messages, the message obtained via ros-msgs-get-field is not allocating new memory, but rather points to the memory of the parent message. Calling ros-msgs-destroy-message is not necessary, as sub-messages retrieved via ros-msgs-get-field only hold a shallow reference and are cleaned up when the parent message is destroyed. Calling it anyways, will only invalidate this shallow reference.
When creating a new message via ros-msgs-create-message, new memory is allocated. When using ros-msgs-set-field to set a nested message, dynamic memory from the sub-message is moved to the parent message, hence the nested message loses all dynamicly allocated data (e.g., unbound arrays, strings). See the example below:
(bind ?new-msg (ros-msgs-create-message "geometry_msgs/msg/Twist"))
(bind ?sub-msg (ros-msgs-create-message "geometry_msgs/msg/Vector3"))
(ros-msgs-set-field ?sub-msg "x" 5.5)
(ros-msgs-set-field ?new-msg "linear" ?sub-msg)
; now all dynamicly allocated members of ?sub-msg are reset,
; as they are moved to the parent message.
In particular, obtaining a nested message from one message ?source and setting it as a member to another message ?sink will cause ?source to lose all dynamic data within it’s sub-message, as the sub-message obtained is actually pointing to memory within ?source:
```lisp (bind ?source (ros-msgs-create-message “geometry_msgs/msg/Twist”)) (bind ?sub-msg (ros-msgs-create-message “geometry_msgs/msg/Vector3”)) (ros-msgs-set-field ?sub-msg “x” 5.5) (ros-msgs-set-field ?source “linear” ?sub-msg) (bind ?sink (ros-msgs-create-message “geometry_msgs/msg/Twist”))
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| rclcpp | |
| pluginlib | |
| cx_plugin | |
| cx_utils | |
| clips_vendor | |
| rosidl_typesupport_cpp | |
| rosidl_typesupport_introspection_cpp | |
| rcutils |
System Dependencies
| Name |
|---|
| libicu-dev |
Dependant Packages
| Name | Deps |
|---|---|
| clips_executive | |
| cx_bringup |
Launch files
Messages
Services
Plugins
Recent questions tagged cx_ros_msgs_plugin at Robotics Stack Exchange
|
|
cx_ros_msgs_plugin package from clips_executive repoclips_executive cx_bringup cx_clips_env_manager cx_msgs cx_plugin cx_ament_index_plugin cx_config_plugin cx_example_plugin cx_executive_plugin cx_file_load_plugin cx_protobuf_plugin cx_ros_msgs_plugin cx_tf2_pose_tracker_plugin cx_ros_comm_gen cx_tutorial_agents cx_utils |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/carologistics/clips_executive.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-06-24 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Tarik Viehmann
Authors
cx_ros_msgs_plugin
This package offers the `cx::RosMsgsPlugin’ that provides functions to interface with ros topics of any type. It makes use of the ROS introspection API to create generic publishers and subscriptions on-the-fly and to serialize and deserialize ROS messages.
Usage
Register this plugin with the plugin manager. It requires no additional configuration, an example setup is shown below:
clips_manager:
ros__parameters:
environments: ["main"]
main:
plugins: ["ros_msgs"]
ros_msgs:
plugin: "cx::RosMsgsPlugin"
CLIPS Features
This plugin defines deftemplates and user-defined functions that are described below.
Deftemplates
; Asserted by the create-subscription function.
; Retracted by the destroy-subscription function.
(deftemplate ros-msgs-subscription
(slot topic (type STRING)) ; example: "/cx_string_in"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the ros-msgs-create-publisher function.
; Retracted by the respective ros-msgs-destroy-publisher function.
(deftemplate-ros-msgs-publisher
(slot topic (type STRING)) ; example: "/cx_string_out"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the callback of a subscriber whenever a message arrives.
; Process the message and then call ros-msgs-destroy-msgs before retracting!
(deftemplate ros-msgs-message
(slot topic (type STRING)) ; example : "/cx_string_in"
(slot msg-ptr (type EXTERNAL-ADDRESS)) example: <Pointer-C-0x7f1550001d20>
)
Functions
; Create and destroy publishers and subscribers.
(ros-msgs-create-publisher ?topic-name ?msg-type) ; example args: "/cx_string_out" "std_msgs/msg/String"
(ros-msgs-destroy-publisher ?topic-name) ; example args: "/cx_string_out"
(ros-msgs-create-subscription ?topic-name ?msg-type) ; example args: "/cx_string_in" "std_msgs/msg/String"
(ros-msgs-destroy-subscription ?topic-name) ; example args: "/cx_string_in"
; Publish a given message over a topic.
; Requires the publisher to be created first using create-publisher.
(ros-msgs-publish ?msg-ptr ?topic-name)
; Create a message and return a pointer to it
(bind ?msg-ptr (ros-msgs-create-message ?msg-type)) ; example args: "std_msgs/msg/String"
; example ret: <Pointer-C-0x7f1550001d20>
; Destroy a message, call this after publishing a message or processing an incoming message to prevent it from staying in memory.
(ros-msgs-destroy-message ?msg-ptr) ; example args: <Pointer-C-0x7f1550001d20>
; Populate the field of a message.
; If the field is a message, then pass a pointer to that message obtained from ros-msgs-create-message.
(ros-msgs-set-field ?msg-ptr ?field-name ?field-value) ; example args: <Pointer-C-0x7f1550001d20> "data" "Hello World"
; Retrieve a field of a message.
; If the field is a message, then a pointer is returned that can be further inspected by passing it to ros-msgs-get-field.
(ros-msgs-get-field ?msg-ptr ?field-name)
Object Lifetimes and CLIPS
Since clips stores objects via void pointers, dynamic object lifetime management via std::shared_ptr does not work direcly from within CLIPS.
Instead, object lifetimes need to be managed more explicitly through the usage of create and destroy functions.
It is advised to clean up all objects as soon as they are not needed anymore in order to free up memory.
Note that when processing nested messages, the message obtained via ros-msgs-get-field is not allocating new memory, but rather points to the memory of the parent message. Calling ros-msgs-destroy-message is not necessary, as sub-messages retrieved via ros-msgs-get-field only hold a shallow reference and are cleaned up when the parent message is destroyed. Calling it anyways, will only invalidate this shallow reference.
When creating a new message via ros-msgs-create-message, new memory is allocated. When using ros-msgs-set-field to set a nested message, dynamic memory from the sub-message is moved to the parent message, hence the nested message loses all dynamicly allocated data (e.g., unbound arrays, strings). See the example below:
(bind ?new-msg (ros-msgs-create-message "geometry_msgs/msg/Twist"))
(bind ?sub-msg (ros-msgs-create-message "geometry_msgs/msg/Vector3"))
(ros-msgs-set-field ?sub-msg "x" 5.5)
(ros-msgs-set-field ?new-msg "linear" ?sub-msg)
; now all dynamicly allocated members of ?sub-msg are reset,
; as they are moved to the parent message.
In particular, obtaining a nested message from one message ?source and setting it as a member to another message ?sink will cause ?source to lose all dynamic data within it’s sub-message, as the sub-message obtained is actually pointing to memory within ?source:
```lisp (bind ?source (ros-msgs-create-message “geometry_msgs/msg/Twist”)) (bind ?sub-msg (ros-msgs-create-message “geometry_msgs/msg/Vector3”)) (ros-msgs-set-field ?sub-msg “x” 5.5) (ros-msgs-set-field ?source “linear” ?sub-msg) (bind ?sink (ros-msgs-create-message “geometry_msgs/msg/Twist”))
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| rclcpp | |
| pluginlib | |
| cx_plugin | |
| cx_utils | |
| clips_vendor | |
| rosidl_typesupport_cpp | |
| rosidl_typesupport_introspection_cpp | |
| rcutils |
System Dependencies
| Name |
|---|
| libicu-dev |
Dependant Packages
| Name | Deps |
|---|---|
| clips_executive | |
| cx_bringup |
Launch files
Messages
Services
Plugins
Recent questions tagged cx_ros_msgs_plugin at Robotics Stack Exchange
|
|
cx_ros_msgs_plugin package from clips_executive repoclips_executive cx_bringup cx_clips_env_manager cx_msgs cx_plugin cx_ament_index_plugin cx_config_plugin cx_example_plugin cx_executive_plugin cx_file_load_plugin cx_protobuf_plugin cx_ros_msgs_plugin cx_tf2_pose_tracker_plugin cx_ros_comm_gen cx_tutorial_agents cx_utils |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/carologistics/clips_executive.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-06-24 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Tarik Viehmann
Authors
cx_ros_msgs_plugin
This package offers the `cx::RosMsgsPlugin’ that provides functions to interface with ros topics of any type. It makes use of the ROS introspection API to create generic publishers and subscriptions on-the-fly and to serialize and deserialize ROS messages.
Usage
Register this plugin with the plugin manager. It requires no additional configuration, an example setup is shown below:
clips_manager:
ros__parameters:
environments: ["main"]
main:
plugins: ["ros_msgs"]
ros_msgs:
plugin: "cx::RosMsgsPlugin"
CLIPS Features
This plugin defines deftemplates and user-defined functions that are described below.
Deftemplates
; Asserted by the create-subscription function.
; Retracted by the destroy-subscription function.
(deftemplate ros-msgs-subscription
(slot topic (type STRING)) ; example: "/cx_string_in"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the ros-msgs-create-publisher function.
; Retracted by the respective ros-msgs-destroy-publisher function.
(deftemplate-ros-msgs-publisher
(slot topic (type STRING)) ; example: "/cx_string_out"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the callback of a subscriber whenever a message arrives.
; Process the message and then call ros-msgs-destroy-msgs before retracting!
(deftemplate ros-msgs-message
(slot topic (type STRING)) ; example : "/cx_string_in"
(slot msg-ptr (type EXTERNAL-ADDRESS)) example: <Pointer-C-0x7f1550001d20>
)
Functions
; Create and destroy publishers and subscribers.
(ros-msgs-create-publisher ?topic-name ?msg-type) ; example args: "/cx_string_out" "std_msgs/msg/String"
(ros-msgs-destroy-publisher ?topic-name) ; example args: "/cx_string_out"
(ros-msgs-create-subscription ?topic-name ?msg-type) ; example args: "/cx_string_in" "std_msgs/msg/String"
(ros-msgs-destroy-subscription ?topic-name) ; example args: "/cx_string_in"
; Publish a given message over a topic.
; Requires the publisher to be created first using create-publisher.
(ros-msgs-publish ?msg-ptr ?topic-name)
; Create a message and return a pointer to it
(bind ?msg-ptr (ros-msgs-create-message ?msg-type)) ; example args: "std_msgs/msg/String"
; example ret: <Pointer-C-0x7f1550001d20>
; Destroy a message, call this after publishing a message or processing an incoming message to prevent it from staying in memory.
(ros-msgs-destroy-message ?msg-ptr) ; example args: <Pointer-C-0x7f1550001d20>
; Populate the field of a message.
; If the field is a message, then pass a pointer to that message obtained from ros-msgs-create-message.
(ros-msgs-set-field ?msg-ptr ?field-name ?field-value) ; example args: <Pointer-C-0x7f1550001d20> "data" "Hello World"
; Retrieve a field of a message.
; If the field is a message, then a pointer is returned that can be further inspected by passing it to ros-msgs-get-field.
(ros-msgs-get-field ?msg-ptr ?field-name)
Object Lifetimes and CLIPS
Since clips stores objects via void pointers, dynamic object lifetime management via std::shared_ptr does not work direcly from within CLIPS.
Instead, object lifetimes need to be managed more explicitly through the usage of create and destroy functions.
It is advised to clean up all objects as soon as they are not needed anymore in order to free up memory.
Note that when processing nested messages, the message obtained via ros-msgs-get-field is not allocating new memory, but rather points to the memory of the parent message. Calling ros-msgs-destroy-message is not necessary, as sub-messages retrieved via ros-msgs-get-field only hold a shallow reference and are cleaned up when the parent message is destroyed. Calling it anyways, will only invalidate this shallow reference.
When creating a new message via ros-msgs-create-message, new memory is allocated. When using ros-msgs-set-field to set a nested message, dynamic memory from the sub-message is moved to the parent message, hence the nested message loses all dynamicly allocated data (e.g., unbound arrays, strings). See the example below:
(bind ?new-msg (ros-msgs-create-message "geometry_msgs/msg/Twist"))
(bind ?sub-msg (ros-msgs-create-message "geometry_msgs/msg/Vector3"))
(ros-msgs-set-field ?sub-msg "x" 5.5)
(ros-msgs-set-field ?new-msg "linear" ?sub-msg)
; now all dynamicly allocated members of ?sub-msg are reset,
; as they are moved to the parent message.
In particular, obtaining a nested message from one message ?source and setting it as a member to another message ?sink will cause ?source to lose all dynamic data within it’s sub-message, as the sub-message obtained is actually pointing to memory within ?source:
```lisp (bind ?source (ros-msgs-create-message “geometry_msgs/msg/Twist”)) (bind ?sub-msg (ros-msgs-create-message “geometry_msgs/msg/Vector3”)) (ros-msgs-set-field ?sub-msg “x” 5.5) (ros-msgs-set-field ?source “linear” ?sub-msg) (bind ?sink (ros-msgs-create-message “geometry_msgs/msg/Twist”))
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| rclcpp | |
| pluginlib | |
| cx_plugin | |
| cx_utils | |
| clips_vendor | |
| rosidl_typesupport_cpp | |
| rosidl_typesupport_introspection_cpp | |
| rcutils |
System Dependencies
| Name |
|---|
| libicu-dev |
Dependant Packages
| Name | Deps |
|---|---|
| clips_executive | |
| cx_bringup |
Launch files
Messages
Services
Plugins
Recent questions tagged cx_ros_msgs_plugin at Robotics Stack Exchange
|
|
cx_ros_msgs_plugin package from clips_executive repoclips_executive cx_bringup cx_clips_env_manager cx_msgs cx_plugin cx_ament_index_plugin cx_config_plugin cx_example_plugin cx_executive_plugin cx_file_load_plugin cx_protobuf_plugin cx_ros_msgs_plugin cx_tf2_pose_tracker_plugin cx_ros_comm_gen cx_tutorial_agents cx_utils |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/carologistics/clips_executive.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-06-24 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Tarik Viehmann
Authors
cx_ros_msgs_plugin
This package offers the `cx::RosMsgsPlugin’ that provides functions to interface with ros topics of any type. It makes use of the ROS introspection API to create generic publishers and subscriptions on-the-fly and to serialize and deserialize ROS messages.
Usage
Register this plugin with the plugin manager. It requires no additional configuration, an example setup is shown below:
clips_manager:
ros__parameters:
environments: ["main"]
main:
plugins: ["ros_msgs"]
ros_msgs:
plugin: "cx::RosMsgsPlugin"
CLIPS Features
This plugin defines deftemplates and user-defined functions that are described below.
Deftemplates
; Asserted by the create-subscription function.
; Retracted by the destroy-subscription function.
(deftemplate ros-msgs-subscription
(slot topic (type STRING)) ; example: "/cx_string_in"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the ros-msgs-create-publisher function.
; Retracted by the respective ros-msgs-destroy-publisher function.
(deftemplate-ros-msgs-publisher
(slot topic (type STRING)) ; example: "/cx_string_out"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the callback of a subscriber whenever a message arrives.
; Process the message and then call ros-msgs-destroy-msgs before retracting!
(deftemplate ros-msgs-message
(slot topic (type STRING)) ; example : "/cx_string_in"
(slot msg-ptr (type EXTERNAL-ADDRESS)) example: <Pointer-C-0x7f1550001d20>
)
Functions
; Create and destroy publishers and subscribers.
(ros-msgs-create-publisher ?topic-name ?msg-type) ; example args: "/cx_string_out" "std_msgs/msg/String"
(ros-msgs-destroy-publisher ?topic-name) ; example args: "/cx_string_out"
(ros-msgs-create-subscription ?topic-name ?msg-type) ; example args: "/cx_string_in" "std_msgs/msg/String"
(ros-msgs-destroy-subscription ?topic-name) ; example args: "/cx_string_in"
; Publish a given message over a topic.
; Requires the publisher to be created first using create-publisher.
(ros-msgs-publish ?msg-ptr ?topic-name)
; Create a message and return a pointer to it
(bind ?msg-ptr (ros-msgs-create-message ?msg-type)) ; example args: "std_msgs/msg/String"
; example ret: <Pointer-C-0x7f1550001d20>
; Destroy a message, call this after publishing a message or processing an incoming message to prevent it from staying in memory.
(ros-msgs-destroy-message ?msg-ptr) ; example args: <Pointer-C-0x7f1550001d20>
; Populate the field of a message.
; If the field is a message, then pass a pointer to that message obtained from ros-msgs-create-message.
(ros-msgs-set-field ?msg-ptr ?field-name ?field-value) ; example args: <Pointer-C-0x7f1550001d20> "data" "Hello World"
; Retrieve a field of a message.
; If the field is a message, then a pointer is returned that can be further inspected by passing it to ros-msgs-get-field.
(ros-msgs-get-field ?msg-ptr ?field-name)
Object Lifetimes and CLIPS
Since clips stores objects via void pointers, dynamic object lifetime management via std::shared_ptr does not work direcly from within CLIPS.
Instead, object lifetimes need to be managed more explicitly through the usage of create and destroy functions.
It is advised to clean up all objects as soon as they are not needed anymore in order to free up memory.
Note that when processing nested messages, the message obtained via ros-msgs-get-field is not allocating new memory, but rather points to the memory of the parent message. Calling ros-msgs-destroy-message is not necessary, as sub-messages retrieved via ros-msgs-get-field only hold a shallow reference and are cleaned up when the parent message is destroyed. Calling it anyways, will only invalidate this shallow reference.
When creating a new message via ros-msgs-create-message, new memory is allocated. When using ros-msgs-set-field to set a nested message, dynamic memory from the sub-message is moved to the parent message, hence the nested message loses all dynamicly allocated data (e.g., unbound arrays, strings). See the example below:
(bind ?new-msg (ros-msgs-create-message "geometry_msgs/msg/Twist"))
(bind ?sub-msg (ros-msgs-create-message "geometry_msgs/msg/Vector3"))
(ros-msgs-set-field ?sub-msg "x" 5.5)
(ros-msgs-set-field ?new-msg "linear" ?sub-msg)
; now all dynamicly allocated members of ?sub-msg are reset,
; as they are moved to the parent message.
In particular, obtaining a nested message from one message ?source and setting it as a member to another message ?sink will cause ?source to lose all dynamic data within it’s sub-message, as the sub-message obtained is actually pointing to memory within ?source:
```lisp (bind ?source (ros-msgs-create-message “geometry_msgs/msg/Twist”)) (bind ?sub-msg (ros-msgs-create-message “geometry_msgs/msg/Vector3”)) (ros-msgs-set-field ?sub-msg “x” 5.5) (ros-msgs-set-field ?source “linear” ?sub-msg) (bind ?sink (ros-msgs-create-message “geometry_msgs/msg/Twist”))
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| rclcpp | |
| pluginlib | |
| cx_plugin | |
| cx_utils | |
| clips_vendor | |
| rosidl_typesupport_cpp | |
| rosidl_typesupport_introspection_cpp | |
| rcutils |
System Dependencies
| Name |
|---|
| libicu-dev |
Dependant Packages
| Name | Deps |
|---|---|
| clips_executive | |
| cx_bringup |
Launch files
Messages
Services
Plugins
Recent questions tagged cx_ros_msgs_plugin at Robotics Stack Exchange
|
|
cx_ros_msgs_plugin package from clips_executive repoclips_executive cx_bringup cx_clips_env_manager cx_msgs cx_plugin cx_ament_index_plugin cx_config_plugin cx_example_plugin cx_executive_plugin cx_file_load_plugin cx_protobuf_plugin cx_ros_msgs_plugin cx_tf2_pose_tracker_plugin cx_ros_comm_gen cx_tutorial_agents cx_utils |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/carologistics/clips_executive.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-06-24 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Tarik Viehmann
Authors
cx_ros_msgs_plugin
This package offers the `cx::RosMsgsPlugin’ that provides functions to interface with ros topics of any type. It makes use of the ROS introspection API to create generic publishers and subscriptions on-the-fly and to serialize and deserialize ROS messages.
Usage
Register this plugin with the plugin manager. It requires no additional configuration, an example setup is shown below:
clips_manager:
ros__parameters:
environments: ["main"]
main:
plugins: ["ros_msgs"]
ros_msgs:
plugin: "cx::RosMsgsPlugin"
CLIPS Features
This plugin defines deftemplates and user-defined functions that are described below.
Deftemplates
; Asserted by the create-subscription function.
; Retracted by the destroy-subscription function.
(deftemplate ros-msgs-subscription
(slot topic (type STRING)) ; example: "/cx_string_in"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the ros-msgs-create-publisher function.
; Retracted by the respective ros-msgs-destroy-publisher function.
(deftemplate-ros-msgs-publisher
(slot topic (type STRING)) ; example: "/cx_string_out"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the callback of a subscriber whenever a message arrives.
; Process the message and then call ros-msgs-destroy-msgs before retracting!
(deftemplate ros-msgs-message
(slot topic (type STRING)) ; example : "/cx_string_in"
(slot msg-ptr (type EXTERNAL-ADDRESS)) example: <Pointer-C-0x7f1550001d20>
)
Functions
; Create and destroy publishers and subscribers.
(ros-msgs-create-publisher ?topic-name ?msg-type) ; example args: "/cx_string_out" "std_msgs/msg/String"
(ros-msgs-destroy-publisher ?topic-name) ; example args: "/cx_string_out"
(ros-msgs-create-subscription ?topic-name ?msg-type) ; example args: "/cx_string_in" "std_msgs/msg/String"
(ros-msgs-destroy-subscription ?topic-name) ; example args: "/cx_string_in"
; Publish a given message over a topic.
; Requires the publisher to be created first using create-publisher.
(ros-msgs-publish ?msg-ptr ?topic-name)
; Create a message and return a pointer to it
(bind ?msg-ptr (ros-msgs-create-message ?msg-type)) ; example args: "std_msgs/msg/String"
; example ret: <Pointer-C-0x7f1550001d20>
; Destroy a message, call this after publishing a message or processing an incoming message to prevent it from staying in memory.
(ros-msgs-destroy-message ?msg-ptr) ; example args: <Pointer-C-0x7f1550001d20>
; Populate the field of a message.
; If the field is a message, then pass a pointer to that message obtained from ros-msgs-create-message.
(ros-msgs-set-field ?msg-ptr ?field-name ?field-value) ; example args: <Pointer-C-0x7f1550001d20> "data" "Hello World"
; Retrieve a field of a message.
; If the field is a message, then a pointer is returned that can be further inspected by passing it to ros-msgs-get-field.
(ros-msgs-get-field ?msg-ptr ?field-name)
Object Lifetimes and CLIPS
Since clips stores objects via void pointers, dynamic object lifetime management via std::shared_ptr does not work direcly from within CLIPS.
Instead, object lifetimes need to be managed more explicitly through the usage of create and destroy functions.
It is advised to clean up all objects as soon as they are not needed anymore in order to free up memory.
Note that when processing nested messages, the message obtained via ros-msgs-get-field is not allocating new memory, but rather points to the memory of the parent message. Calling ros-msgs-destroy-message is not necessary, as sub-messages retrieved via ros-msgs-get-field only hold a shallow reference and are cleaned up when the parent message is destroyed. Calling it anyways, will only invalidate this shallow reference.
When creating a new message via ros-msgs-create-message, new memory is allocated. When using ros-msgs-set-field to set a nested message, dynamic memory from the sub-message is moved to the parent message, hence the nested message loses all dynamicly allocated data (e.g., unbound arrays, strings). See the example below:
(bind ?new-msg (ros-msgs-create-message "geometry_msgs/msg/Twist"))
(bind ?sub-msg (ros-msgs-create-message "geometry_msgs/msg/Vector3"))
(ros-msgs-set-field ?sub-msg "x" 5.5)
(ros-msgs-set-field ?new-msg "linear" ?sub-msg)
; now all dynamicly allocated members of ?sub-msg are reset,
; as they are moved to the parent message.
In particular, obtaining a nested message from one message ?source and setting it as a member to another message ?sink will cause ?source to lose all dynamic data within it’s sub-message, as the sub-message obtained is actually pointing to memory within ?source:
```lisp (bind ?source (ros-msgs-create-message “geometry_msgs/msg/Twist”)) (bind ?sub-msg (ros-msgs-create-message “geometry_msgs/msg/Vector3”)) (ros-msgs-set-field ?sub-msg “x” 5.5) (ros-msgs-set-field ?source “linear” ?sub-msg) (bind ?sink (ros-msgs-create-message “geometry_msgs/msg/Twist”))
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| rclcpp | |
| pluginlib | |
| cx_plugin | |
| cx_utils | |
| clips_vendor | |
| rosidl_typesupport_cpp | |
| rosidl_typesupport_introspection_cpp | |
| rcutils |
System Dependencies
| Name |
|---|
| libicu-dev |
Dependant Packages
| Name | Deps |
|---|---|
| clips_executive | |
| cx_bringup |
Launch files
Messages
Services
Plugins
Recent questions tagged cx_ros_msgs_plugin at Robotics Stack Exchange
|
|
cx_ros_msgs_plugin package from clips_executive repoclips_executive cx_bringup cx_clips_env_manager cx_msgs cx_plugin cx_ament_index_plugin cx_config_plugin cx_example_plugin cx_executive_plugin cx_file_load_plugin cx_protobuf_plugin cx_ros_msgs_plugin cx_tf2_pose_tracker_plugin cx_ros_comm_gen cx_tutorial_agents cx_utils |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/carologistics/clips_executive.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-06-24 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Tarik Viehmann
Authors
cx_ros_msgs_plugin
This package offers the `cx::RosMsgsPlugin’ that provides functions to interface with ros topics of any type. It makes use of the ROS introspection API to create generic publishers and subscriptions on-the-fly and to serialize and deserialize ROS messages.
Usage
Register this plugin with the plugin manager. It requires no additional configuration, an example setup is shown below:
clips_manager:
ros__parameters:
environments: ["main"]
main:
plugins: ["ros_msgs"]
ros_msgs:
plugin: "cx::RosMsgsPlugin"
CLIPS Features
This plugin defines deftemplates and user-defined functions that are described below.
Deftemplates
; Asserted by the create-subscription function.
; Retracted by the destroy-subscription function.
(deftemplate ros-msgs-subscription
(slot topic (type STRING)) ; example: "/cx_string_in"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the ros-msgs-create-publisher function.
; Retracted by the respective ros-msgs-destroy-publisher function.
(deftemplate-ros-msgs-publisher
(slot topic (type STRING)) ; example: "/cx_string_out"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the callback of a subscriber whenever a message arrives.
; Process the message and then call ros-msgs-destroy-msgs before retracting!
(deftemplate ros-msgs-message
(slot topic (type STRING)) ; example : "/cx_string_in"
(slot msg-ptr (type EXTERNAL-ADDRESS)) example: <Pointer-C-0x7f1550001d20>
)
Functions
; Create and destroy publishers and subscribers.
(ros-msgs-create-publisher ?topic-name ?msg-type) ; example args: "/cx_string_out" "std_msgs/msg/String"
(ros-msgs-destroy-publisher ?topic-name) ; example args: "/cx_string_out"
(ros-msgs-create-subscription ?topic-name ?msg-type) ; example args: "/cx_string_in" "std_msgs/msg/String"
(ros-msgs-destroy-subscription ?topic-name) ; example args: "/cx_string_in"
; Publish a given message over a topic.
; Requires the publisher to be created first using create-publisher.
(ros-msgs-publish ?msg-ptr ?topic-name)
; Create a message and return a pointer to it
(bind ?msg-ptr (ros-msgs-create-message ?msg-type)) ; example args: "std_msgs/msg/String"
; example ret: <Pointer-C-0x7f1550001d20>
; Destroy a message, call this after publishing a message or processing an incoming message to prevent it from staying in memory.
(ros-msgs-destroy-message ?msg-ptr) ; example args: <Pointer-C-0x7f1550001d20>
; Populate the field of a message.
; If the field is a message, then pass a pointer to that message obtained from ros-msgs-create-message.
(ros-msgs-set-field ?msg-ptr ?field-name ?field-value) ; example args: <Pointer-C-0x7f1550001d20> "data" "Hello World"
; Retrieve a field of a message.
; If the field is a message, then a pointer is returned that can be further inspected by passing it to ros-msgs-get-field.
(ros-msgs-get-field ?msg-ptr ?field-name)
Object Lifetimes and CLIPS
Since clips stores objects via void pointers, dynamic object lifetime management via std::shared_ptr does not work direcly from within CLIPS.
Instead, object lifetimes need to be managed more explicitly through the usage of create and destroy functions.
It is advised to clean up all objects as soon as they are not needed anymore in order to free up memory.
Note that when processing nested messages, the message obtained via ros-msgs-get-field is not allocating new memory, but rather points to the memory of the parent message. Calling ros-msgs-destroy-message is not necessary, as sub-messages retrieved via ros-msgs-get-field only hold a shallow reference and are cleaned up when the parent message is destroyed. Calling it anyways, will only invalidate this shallow reference.
When creating a new message via ros-msgs-create-message, new memory is allocated. When using ros-msgs-set-field to set a nested message, dynamic memory from the sub-message is moved to the parent message, hence the nested message loses all dynamicly allocated data (e.g., unbound arrays, strings). See the example below:
(bind ?new-msg (ros-msgs-create-message "geometry_msgs/msg/Twist"))
(bind ?sub-msg (ros-msgs-create-message "geometry_msgs/msg/Vector3"))
(ros-msgs-set-field ?sub-msg "x" 5.5)
(ros-msgs-set-field ?new-msg "linear" ?sub-msg)
; now all dynamicly allocated members of ?sub-msg are reset,
; as they are moved to the parent message.
In particular, obtaining a nested message from one message ?source and setting it as a member to another message ?sink will cause ?source to lose all dynamic data within it’s sub-message, as the sub-message obtained is actually pointing to memory within ?source:
```lisp (bind ?source (ros-msgs-create-message “geometry_msgs/msg/Twist”)) (bind ?sub-msg (ros-msgs-create-message “geometry_msgs/msg/Vector3”)) (ros-msgs-set-field ?sub-msg “x” 5.5) (ros-msgs-set-field ?source “linear” ?sub-msg) (bind ?sink (ros-msgs-create-message “geometry_msgs/msg/Twist”))
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| rclcpp | |
| pluginlib | |
| cx_plugin | |
| cx_utils | |
| clips_vendor | |
| rosidl_typesupport_cpp | |
| rosidl_typesupport_introspection_cpp | |
| rcutils |
System Dependencies
| Name |
|---|
| libicu-dev |
Dependant Packages
| Name | Deps |
|---|---|
| clips_executive | |
| cx_bringup |
Launch files
Messages
Services
Plugins
Recent questions tagged cx_ros_msgs_plugin at Robotics Stack Exchange
|
|
cx_ros_msgs_plugin package from clips_executive repoclips_executive cx_bringup cx_clips_env_manager cx_msgs cx_plugin cx_ament_index_plugin cx_config_plugin cx_example_plugin cx_executive_plugin cx_file_load_plugin cx_protobuf_plugin cx_ros_msgs_plugin cx_tf2_pose_tracker_plugin cx_ros_comm_gen cx_tutorial_agents cx_utils |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/carologistics/clips_executive.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-06-24 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Tarik Viehmann
Authors
cx_ros_msgs_plugin
This package offers the `cx::RosMsgsPlugin’ that provides functions to interface with ros topics of any type. It makes use of the ROS introspection API to create generic publishers and subscriptions on-the-fly and to serialize and deserialize ROS messages.
Usage
Register this plugin with the plugin manager. It requires no additional configuration, an example setup is shown below:
clips_manager:
ros__parameters:
environments: ["main"]
main:
plugins: ["ros_msgs"]
ros_msgs:
plugin: "cx::RosMsgsPlugin"
CLIPS Features
This plugin defines deftemplates and user-defined functions that are described below.
Deftemplates
; Asserted by the create-subscription function.
; Retracted by the destroy-subscription function.
(deftemplate ros-msgs-subscription
(slot topic (type STRING)) ; example: "/cx_string_in"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the ros-msgs-create-publisher function.
; Retracted by the respective ros-msgs-destroy-publisher function.
(deftemplate-ros-msgs-publisher
(slot topic (type STRING)) ; example: "/cx_string_out"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the callback of a subscriber whenever a message arrives.
; Process the message and then call ros-msgs-destroy-msgs before retracting!
(deftemplate ros-msgs-message
(slot topic (type STRING)) ; example : "/cx_string_in"
(slot msg-ptr (type EXTERNAL-ADDRESS)) example: <Pointer-C-0x7f1550001d20>
)
Functions
; Create and destroy publishers and subscribers.
(ros-msgs-create-publisher ?topic-name ?msg-type) ; example args: "/cx_string_out" "std_msgs/msg/String"
(ros-msgs-destroy-publisher ?topic-name) ; example args: "/cx_string_out"
(ros-msgs-create-subscription ?topic-name ?msg-type) ; example args: "/cx_string_in" "std_msgs/msg/String"
(ros-msgs-destroy-subscription ?topic-name) ; example args: "/cx_string_in"
; Publish a given message over a topic.
; Requires the publisher to be created first using create-publisher.
(ros-msgs-publish ?msg-ptr ?topic-name)
; Create a message and return a pointer to it
(bind ?msg-ptr (ros-msgs-create-message ?msg-type)) ; example args: "std_msgs/msg/String"
; example ret: <Pointer-C-0x7f1550001d20>
; Destroy a message, call this after publishing a message or processing an incoming message to prevent it from staying in memory.
(ros-msgs-destroy-message ?msg-ptr) ; example args: <Pointer-C-0x7f1550001d20>
; Populate the field of a message.
; If the field is a message, then pass a pointer to that message obtained from ros-msgs-create-message.
(ros-msgs-set-field ?msg-ptr ?field-name ?field-value) ; example args: <Pointer-C-0x7f1550001d20> "data" "Hello World"
; Retrieve a field of a message.
; If the field is a message, then a pointer is returned that can be further inspected by passing it to ros-msgs-get-field.
(ros-msgs-get-field ?msg-ptr ?field-name)
Object Lifetimes and CLIPS
Since clips stores objects via void pointers, dynamic object lifetime management via std::shared_ptr does not work direcly from within CLIPS.
Instead, object lifetimes need to be managed more explicitly through the usage of create and destroy functions.
It is advised to clean up all objects as soon as they are not needed anymore in order to free up memory.
Note that when processing nested messages, the message obtained via ros-msgs-get-field is not allocating new memory, but rather points to the memory of the parent message. Calling ros-msgs-destroy-message is not necessary, as sub-messages retrieved via ros-msgs-get-field only hold a shallow reference and are cleaned up when the parent message is destroyed. Calling it anyways, will only invalidate this shallow reference.
When creating a new message via ros-msgs-create-message, new memory is allocated. When using ros-msgs-set-field to set a nested message, dynamic memory from the sub-message is moved to the parent message, hence the nested message loses all dynamicly allocated data (e.g., unbound arrays, strings). See the example below:
(bind ?new-msg (ros-msgs-create-message "geometry_msgs/msg/Twist"))
(bind ?sub-msg (ros-msgs-create-message "geometry_msgs/msg/Vector3"))
(ros-msgs-set-field ?sub-msg "x" 5.5)
(ros-msgs-set-field ?new-msg "linear" ?sub-msg)
; now all dynamicly allocated members of ?sub-msg are reset,
; as they are moved to the parent message.
In particular, obtaining a nested message from one message ?source and setting it as a member to another message ?sink will cause ?source to lose all dynamic data within it’s sub-message, as the sub-message obtained is actually pointing to memory within ?source:
```lisp (bind ?source (ros-msgs-create-message “geometry_msgs/msg/Twist”)) (bind ?sub-msg (ros-msgs-create-message “geometry_msgs/msg/Vector3”)) (ros-msgs-set-field ?sub-msg “x” 5.5) (ros-msgs-set-field ?source “linear” ?sub-msg) (bind ?sink (ros-msgs-create-message “geometry_msgs/msg/Twist”))
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| rclcpp | |
| pluginlib | |
| cx_plugin | |
| cx_utils | |
| clips_vendor | |
| rosidl_typesupport_cpp | |
| rosidl_typesupport_introspection_cpp | |
| rcutils |
System Dependencies
| Name |
|---|
| libicu-dev |
Dependant Packages
| Name | Deps |
|---|---|
| clips_executive | |
| cx_bringup |
Launch files
Messages
Services
Plugins
Recent questions tagged cx_ros_msgs_plugin at Robotics Stack Exchange
|
|
cx_ros_msgs_plugin package from clips_executive repoclips_executive cx_bringup cx_clips_env_manager cx_msgs cx_plugin cx_ament_index_plugin cx_config_plugin cx_example_plugin cx_executive_plugin cx_file_load_plugin cx_protobuf_plugin cx_ros_msgs_plugin cx_tf2_pose_tracker_plugin cx_ros_comm_gen cx_tutorial_agents cx_utils |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/carologistics/clips_executive.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-06-24 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Tarik Viehmann
Authors
cx_ros_msgs_plugin
This package offers the `cx::RosMsgsPlugin’ that provides functions to interface with ros topics of any type. It makes use of the ROS introspection API to create generic publishers and subscriptions on-the-fly and to serialize and deserialize ROS messages.
Usage
Register this plugin with the plugin manager. It requires no additional configuration, an example setup is shown below:
clips_manager:
ros__parameters:
environments: ["main"]
main:
plugins: ["ros_msgs"]
ros_msgs:
plugin: "cx::RosMsgsPlugin"
CLIPS Features
This plugin defines deftemplates and user-defined functions that are described below.
Deftemplates
; Asserted by the create-subscription function.
; Retracted by the destroy-subscription function.
(deftemplate ros-msgs-subscription
(slot topic (type STRING)) ; example: "/cx_string_in"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the ros-msgs-create-publisher function.
; Retracted by the respective ros-msgs-destroy-publisher function.
(deftemplate-ros-msgs-publisher
(slot topic (type STRING)) ; example: "/cx_string_out"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the callback of a subscriber whenever a message arrives.
; Process the message and then call ros-msgs-destroy-msgs before retracting!
(deftemplate ros-msgs-message
(slot topic (type STRING)) ; example : "/cx_string_in"
(slot msg-ptr (type EXTERNAL-ADDRESS)) example: <Pointer-C-0x7f1550001d20>
)
Functions
; Create and destroy publishers and subscribers.
(ros-msgs-create-publisher ?topic-name ?msg-type) ; example args: "/cx_string_out" "std_msgs/msg/String"
(ros-msgs-destroy-publisher ?topic-name) ; example args: "/cx_string_out"
(ros-msgs-create-subscription ?topic-name ?msg-type) ; example args: "/cx_string_in" "std_msgs/msg/String"
(ros-msgs-destroy-subscription ?topic-name) ; example args: "/cx_string_in"
; Publish a given message over a topic.
; Requires the publisher to be created first using create-publisher.
(ros-msgs-publish ?msg-ptr ?topic-name)
; Create a message and return a pointer to it
(bind ?msg-ptr (ros-msgs-create-message ?msg-type)) ; example args: "std_msgs/msg/String"
; example ret: <Pointer-C-0x7f1550001d20>
; Destroy a message, call this after publishing a message or processing an incoming message to prevent it from staying in memory.
(ros-msgs-destroy-message ?msg-ptr) ; example args: <Pointer-C-0x7f1550001d20>
; Populate the field of a message.
; If the field is a message, then pass a pointer to that message obtained from ros-msgs-create-message.
(ros-msgs-set-field ?msg-ptr ?field-name ?field-value) ; example args: <Pointer-C-0x7f1550001d20> "data" "Hello World"
; Retrieve a field of a message.
; If the field is a message, then a pointer is returned that can be further inspected by passing it to ros-msgs-get-field.
(ros-msgs-get-field ?msg-ptr ?field-name)
Object Lifetimes and CLIPS
Since clips stores objects via void pointers, dynamic object lifetime management via std::shared_ptr does not work direcly from within CLIPS.
Instead, object lifetimes need to be managed more explicitly through the usage of create and destroy functions.
It is advised to clean up all objects as soon as they are not needed anymore in order to free up memory.
Note that when processing nested messages, the message obtained via ros-msgs-get-field is not allocating new memory, but rather points to the memory of the parent message. Calling ros-msgs-destroy-message is not necessary, as sub-messages retrieved via ros-msgs-get-field only hold a shallow reference and are cleaned up when the parent message is destroyed. Calling it anyways, will only invalidate this shallow reference.
When creating a new message via ros-msgs-create-message, new memory is allocated. When using ros-msgs-set-field to set a nested message, dynamic memory from the sub-message is moved to the parent message, hence the nested message loses all dynamicly allocated data (e.g., unbound arrays, strings). See the example below:
(bind ?new-msg (ros-msgs-create-message "geometry_msgs/msg/Twist"))
(bind ?sub-msg (ros-msgs-create-message "geometry_msgs/msg/Vector3"))
(ros-msgs-set-field ?sub-msg "x" 5.5)
(ros-msgs-set-field ?new-msg "linear" ?sub-msg)
; now all dynamicly allocated members of ?sub-msg are reset,
; as they are moved to the parent message.
In particular, obtaining a nested message from one message ?source and setting it as a member to another message ?sink will cause ?source to lose all dynamic data within it’s sub-message, as the sub-message obtained is actually pointing to memory within ?source:
```lisp (bind ?source (ros-msgs-create-message “geometry_msgs/msg/Twist”)) (bind ?sub-msg (ros-msgs-create-message “geometry_msgs/msg/Vector3”)) (ros-msgs-set-field ?sub-msg “x” 5.5) (ros-msgs-set-field ?source “linear” ?sub-msg) (bind ?sink (ros-msgs-create-message “geometry_msgs/msg/Twist”))
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| rclcpp | |
| pluginlib | |
| cx_plugin | |
| cx_utils | |
| clips_vendor | |
| rosidl_typesupport_cpp | |
| rosidl_typesupport_introspection_cpp | |
| rcutils |
System Dependencies
| Name |
|---|
| libicu-dev |
Dependant Packages
| Name | Deps |
|---|---|
| clips_executive | |
| cx_bringup |
Launch files
Messages
Services
Plugins
Recent questions tagged cx_ros_msgs_plugin at Robotics Stack Exchange
|
|
cx_ros_msgs_plugin package from clips_executive repoclips_executive cx_bringup cx_clips_env_manager cx_msgs cx_plugin cx_ament_index_plugin cx_config_plugin cx_example_plugin cx_executive_plugin cx_file_load_plugin cx_protobuf_plugin cx_ros_msgs_plugin cx_tf2_pose_tracker_plugin cx_ros_comm_gen cx_tutorial_agents cx_utils |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/carologistics/clips_executive.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-06-24 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Tarik Viehmann
Authors
cx_ros_msgs_plugin
This package offers the `cx::RosMsgsPlugin’ that provides functions to interface with ros topics of any type. It makes use of the ROS introspection API to create generic publishers and subscriptions on-the-fly and to serialize and deserialize ROS messages.
Usage
Register this plugin with the plugin manager. It requires no additional configuration, an example setup is shown below:
clips_manager:
ros__parameters:
environments: ["main"]
main:
plugins: ["ros_msgs"]
ros_msgs:
plugin: "cx::RosMsgsPlugin"
CLIPS Features
This plugin defines deftemplates and user-defined functions that are described below.
Deftemplates
; Asserted by the create-subscription function.
; Retracted by the destroy-subscription function.
(deftemplate ros-msgs-subscription
(slot topic (type STRING)) ; example: "/cx_string_in"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the ros-msgs-create-publisher function.
; Retracted by the respective ros-msgs-destroy-publisher function.
(deftemplate-ros-msgs-publisher
(slot topic (type STRING)) ; example: "/cx_string_out"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the callback of a subscriber whenever a message arrives.
; Process the message and then call ros-msgs-destroy-msgs before retracting!
(deftemplate ros-msgs-message
(slot topic (type STRING)) ; example : "/cx_string_in"
(slot msg-ptr (type EXTERNAL-ADDRESS)) example: <Pointer-C-0x7f1550001d20>
)
Functions
; Create and destroy publishers and subscribers.
(ros-msgs-create-publisher ?topic-name ?msg-type) ; example args: "/cx_string_out" "std_msgs/msg/String"
(ros-msgs-destroy-publisher ?topic-name) ; example args: "/cx_string_out"
(ros-msgs-create-subscription ?topic-name ?msg-type) ; example args: "/cx_string_in" "std_msgs/msg/String"
(ros-msgs-destroy-subscription ?topic-name) ; example args: "/cx_string_in"
; Publish a given message over a topic.
; Requires the publisher to be created first using create-publisher.
(ros-msgs-publish ?msg-ptr ?topic-name)
; Create a message and return a pointer to it
(bind ?msg-ptr (ros-msgs-create-message ?msg-type)) ; example args: "std_msgs/msg/String"
; example ret: <Pointer-C-0x7f1550001d20>
; Destroy a message, call this after publishing a message or processing an incoming message to prevent it from staying in memory.
(ros-msgs-destroy-message ?msg-ptr) ; example args: <Pointer-C-0x7f1550001d20>
; Populate the field of a message.
; If the field is a message, then pass a pointer to that message obtained from ros-msgs-create-message.
(ros-msgs-set-field ?msg-ptr ?field-name ?field-value) ; example args: <Pointer-C-0x7f1550001d20> "data" "Hello World"
; Retrieve a field of a message.
; If the field is a message, then a pointer is returned that can be further inspected by passing it to ros-msgs-get-field.
(ros-msgs-get-field ?msg-ptr ?field-name)
Object Lifetimes and CLIPS
Since clips stores objects via void pointers, dynamic object lifetime management via std::shared_ptr does not work direcly from within CLIPS.
Instead, object lifetimes need to be managed more explicitly through the usage of create and destroy functions.
It is advised to clean up all objects as soon as they are not needed anymore in order to free up memory.
Note that when processing nested messages, the message obtained via ros-msgs-get-field is not allocating new memory, but rather points to the memory of the parent message. Calling ros-msgs-destroy-message is not necessary, as sub-messages retrieved via ros-msgs-get-field only hold a shallow reference and are cleaned up when the parent message is destroyed. Calling it anyways, will only invalidate this shallow reference.
When creating a new message via ros-msgs-create-message, new memory is allocated. When using ros-msgs-set-field to set a nested message, dynamic memory from the sub-message is moved to the parent message, hence the nested message loses all dynamicly allocated data (e.g., unbound arrays, strings). See the example below:
(bind ?new-msg (ros-msgs-create-message "geometry_msgs/msg/Twist"))
(bind ?sub-msg (ros-msgs-create-message "geometry_msgs/msg/Vector3"))
(ros-msgs-set-field ?sub-msg "x" 5.5)
(ros-msgs-set-field ?new-msg "linear" ?sub-msg)
; now all dynamicly allocated members of ?sub-msg are reset,
; as they are moved to the parent message.
In particular, obtaining a nested message from one message ?source and setting it as a member to another message ?sink will cause ?source to lose all dynamic data within it’s sub-message, as the sub-message obtained is actually pointing to memory within ?source:
```lisp (bind ?source (ros-msgs-create-message “geometry_msgs/msg/Twist”)) (bind ?sub-msg (ros-msgs-create-message “geometry_msgs/msg/Vector3”)) (ros-msgs-set-field ?sub-msg “x” 5.5) (ros-msgs-set-field ?source “linear” ?sub-msg) (bind ?sink (ros-msgs-create-message “geometry_msgs/msg/Twist”))
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| rclcpp | |
| pluginlib | |
| cx_plugin | |
| cx_utils | |
| clips_vendor | |
| rosidl_typesupport_cpp | |
| rosidl_typesupport_introspection_cpp | |
| rcutils |
System Dependencies
| Name |
|---|
| libicu-dev |
Dependant Packages
| Name | Deps |
|---|---|
| clips_executive | |
| cx_bringup |
Launch files
Messages
Services
Plugins
Recent questions tagged cx_ros_msgs_plugin at Robotics Stack Exchange
|
|
cx_ros_msgs_plugin package from clips_executive repoclips_executive cx_bringup cx_clips_env_manager cx_msgs cx_plugin cx_ament_index_plugin cx_config_plugin cx_example_plugin cx_executive_plugin cx_file_load_plugin cx_protobuf_plugin cx_ros_msgs_plugin cx_tf2_pose_tracker_plugin cx_ros_comm_gen cx_tutorial_agents cx_utils |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/carologistics/clips_executive.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-06-24 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Tarik Viehmann
Authors
cx_ros_msgs_plugin
This package offers the `cx::RosMsgsPlugin’ that provides functions to interface with ros topics of any type. It makes use of the ROS introspection API to create generic publishers and subscriptions on-the-fly and to serialize and deserialize ROS messages.
Usage
Register this plugin with the plugin manager. It requires no additional configuration, an example setup is shown below:
clips_manager:
ros__parameters:
environments: ["main"]
main:
plugins: ["ros_msgs"]
ros_msgs:
plugin: "cx::RosMsgsPlugin"
CLIPS Features
This plugin defines deftemplates and user-defined functions that are described below.
Deftemplates
; Asserted by the create-subscription function.
; Retracted by the destroy-subscription function.
(deftemplate ros-msgs-subscription
(slot topic (type STRING)) ; example: "/cx_string_in"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the ros-msgs-create-publisher function.
; Retracted by the respective ros-msgs-destroy-publisher function.
(deftemplate-ros-msgs-publisher
(slot topic (type STRING)) ; example: "/cx_string_out"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the callback of a subscriber whenever a message arrives.
; Process the message and then call ros-msgs-destroy-msgs before retracting!
(deftemplate ros-msgs-message
(slot topic (type STRING)) ; example : "/cx_string_in"
(slot msg-ptr (type EXTERNAL-ADDRESS)) example: <Pointer-C-0x7f1550001d20>
)
Functions
; Create and destroy publishers and subscribers.
(ros-msgs-create-publisher ?topic-name ?msg-type) ; example args: "/cx_string_out" "std_msgs/msg/String"
(ros-msgs-destroy-publisher ?topic-name) ; example args: "/cx_string_out"
(ros-msgs-create-subscription ?topic-name ?msg-type) ; example args: "/cx_string_in" "std_msgs/msg/String"
(ros-msgs-destroy-subscription ?topic-name) ; example args: "/cx_string_in"
; Publish a given message over a topic.
; Requires the publisher to be created first using create-publisher.
(ros-msgs-publish ?msg-ptr ?topic-name)
; Create a message and return a pointer to it
(bind ?msg-ptr (ros-msgs-create-message ?msg-type)) ; example args: "std_msgs/msg/String"
; example ret: <Pointer-C-0x7f1550001d20>
; Destroy a message, call this after publishing a message or processing an incoming message to prevent it from staying in memory.
(ros-msgs-destroy-message ?msg-ptr) ; example args: <Pointer-C-0x7f1550001d20>
; Populate the field of a message.
; If the field is a message, then pass a pointer to that message obtained from ros-msgs-create-message.
(ros-msgs-set-field ?msg-ptr ?field-name ?field-value) ; example args: <Pointer-C-0x7f1550001d20> "data" "Hello World"
; Retrieve a field of a message.
; If the field is a message, then a pointer is returned that can be further inspected by passing it to ros-msgs-get-field.
(ros-msgs-get-field ?msg-ptr ?field-name)
Object Lifetimes and CLIPS
Since clips stores objects via void pointers, dynamic object lifetime management via std::shared_ptr does not work direcly from within CLIPS.
Instead, object lifetimes need to be managed more explicitly through the usage of create and destroy functions.
It is advised to clean up all objects as soon as they are not needed anymore in order to free up memory.
Note that when processing nested messages, the message obtained via ros-msgs-get-field is not allocating new memory, but rather points to the memory of the parent message. Calling ros-msgs-destroy-message is not necessary, as sub-messages retrieved via ros-msgs-get-field only hold a shallow reference and are cleaned up when the parent message is destroyed. Calling it anyways, will only invalidate this shallow reference.
When creating a new message via ros-msgs-create-message, new memory is allocated. When using ros-msgs-set-field to set a nested message, dynamic memory from the sub-message is moved to the parent message, hence the nested message loses all dynamicly allocated data (e.g., unbound arrays, strings). See the example below:
(bind ?new-msg (ros-msgs-create-message "geometry_msgs/msg/Twist"))
(bind ?sub-msg (ros-msgs-create-message "geometry_msgs/msg/Vector3"))
(ros-msgs-set-field ?sub-msg "x" 5.5)
(ros-msgs-set-field ?new-msg "linear" ?sub-msg)
; now all dynamicly allocated members of ?sub-msg are reset,
; as they are moved to the parent message.
In particular, obtaining a nested message from one message ?source and setting it as a member to another message ?sink will cause ?source to lose all dynamic data within it’s sub-message, as the sub-message obtained is actually pointing to memory within ?source:
```lisp (bind ?source (ros-msgs-create-message “geometry_msgs/msg/Twist”)) (bind ?sub-msg (ros-msgs-create-message “geometry_msgs/msg/Vector3”)) (ros-msgs-set-field ?sub-msg “x” 5.5) (ros-msgs-set-field ?source “linear” ?sub-msg) (bind ?sink (ros-msgs-create-message “geometry_msgs/msg/Twist”))
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| rclcpp | |
| pluginlib | |
| cx_plugin | |
| cx_utils | |
| clips_vendor | |
| rosidl_typesupport_cpp | |
| rosidl_typesupport_introspection_cpp | |
| rcutils |
System Dependencies
| Name |
|---|
| libicu-dev |
Dependant Packages
| Name | Deps |
|---|---|
| clips_executive | |
| cx_bringup |
Launch files
Messages
Services
Plugins
Recent questions tagged cx_ros_msgs_plugin at Robotics Stack Exchange
|
|
cx_ros_msgs_plugin package from clips_executive repoclips_executive cx_bringup cx_clips_env_manager cx_msgs cx_plugin cx_ament_index_plugin cx_config_plugin cx_example_plugin cx_executive_plugin cx_file_load_plugin cx_protobuf_plugin cx_ros_msgs_plugin cx_tf2_pose_tracker_plugin cx_ros_comm_gen cx_tutorial_agents cx_utils |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/carologistics/clips_executive.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-06-24 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Tarik Viehmann
Authors
cx_ros_msgs_plugin
This package offers the `cx::RosMsgsPlugin’ that provides functions to interface with ros topics of any type. It makes use of the ROS introspection API to create generic publishers and subscriptions on-the-fly and to serialize and deserialize ROS messages.
Usage
Register this plugin with the plugin manager. It requires no additional configuration, an example setup is shown below:
clips_manager:
ros__parameters:
environments: ["main"]
main:
plugins: ["ros_msgs"]
ros_msgs:
plugin: "cx::RosMsgsPlugin"
CLIPS Features
This plugin defines deftemplates and user-defined functions that are described below.
Deftemplates
; Asserted by the create-subscription function.
; Retracted by the destroy-subscription function.
(deftemplate ros-msgs-subscription
(slot topic (type STRING)) ; example: "/cx_string_in"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the ros-msgs-create-publisher function.
; Retracted by the respective ros-msgs-destroy-publisher function.
(deftemplate-ros-msgs-publisher
(slot topic (type STRING)) ; example: "/cx_string_out"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the callback of a subscriber whenever a message arrives.
; Process the message and then call ros-msgs-destroy-msgs before retracting!
(deftemplate ros-msgs-message
(slot topic (type STRING)) ; example : "/cx_string_in"
(slot msg-ptr (type EXTERNAL-ADDRESS)) example: <Pointer-C-0x7f1550001d20>
)
Functions
; Create and destroy publishers and subscribers.
(ros-msgs-create-publisher ?topic-name ?msg-type) ; example args: "/cx_string_out" "std_msgs/msg/String"
(ros-msgs-destroy-publisher ?topic-name) ; example args: "/cx_string_out"
(ros-msgs-create-subscription ?topic-name ?msg-type) ; example args: "/cx_string_in" "std_msgs/msg/String"
(ros-msgs-destroy-subscription ?topic-name) ; example args: "/cx_string_in"
; Publish a given message over a topic.
; Requires the publisher to be created first using create-publisher.
(ros-msgs-publish ?msg-ptr ?topic-name)
; Create a message and return a pointer to it
(bind ?msg-ptr (ros-msgs-create-message ?msg-type)) ; example args: "std_msgs/msg/String"
; example ret: <Pointer-C-0x7f1550001d20>
; Destroy a message, call this after publishing a message or processing an incoming message to prevent it from staying in memory.
(ros-msgs-destroy-message ?msg-ptr) ; example args: <Pointer-C-0x7f1550001d20>
; Populate the field of a message.
; If the field is a message, then pass a pointer to that message obtained from ros-msgs-create-message.
(ros-msgs-set-field ?msg-ptr ?field-name ?field-value) ; example args: <Pointer-C-0x7f1550001d20> "data" "Hello World"
; Retrieve a field of a message.
; If the field is a message, then a pointer is returned that can be further inspected by passing it to ros-msgs-get-field.
(ros-msgs-get-field ?msg-ptr ?field-name)
Object Lifetimes and CLIPS
Since clips stores objects via void pointers, dynamic object lifetime management via std::shared_ptr does not work direcly from within CLIPS.
Instead, object lifetimes need to be managed more explicitly through the usage of create and destroy functions.
It is advised to clean up all objects as soon as they are not needed anymore in order to free up memory.
Note that when processing nested messages, the message obtained via ros-msgs-get-field is not allocating new memory, but rather points to the memory of the parent message. Calling ros-msgs-destroy-message is not necessary, as sub-messages retrieved via ros-msgs-get-field only hold a shallow reference and are cleaned up when the parent message is destroyed. Calling it anyways, will only invalidate this shallow reference.
When creating a new message via ros-msgs-create-message, new memory is allocated. When using ros-msgs-set-field to set a nested message, dynamic memory from the sub-message is moved to the parent message, hence the nested message loses all dynamicly allocated data (e.g., unbound arrays, strings). See the example below:
(bind ?new-msg (ros-msgs-create-message "geometry_msgs/msg/Twist"))
(bind ?sub-msg (ros-msgs-create-message "geometry_msgs/msg/Vector3"))
(ros-msgs-set-field ?sub-msg "x" 5.5)
(ros-msgs-set-field ?new-msg "linear" ?sub-msg)
; now all dynamicly allocated members of ?sub-msg are reset,
; as they are moved to the parent message.
In particular, obtaining a nested message from one message ?source and setting it as a member to another message ?sink will cause ?source to lose all dynamic data within it’s sub-message, as the sub-message obtained is actually pointing to memory within ?source:
```lisp (bind ?source (ros-msgs-create-message “geometry_msgs/msg/Twist”)) (bind ?sub-msg (ros-msgs-create-message “geometry_msgs/msg/Vector3”)) (ros-msgs-set-field ?sub-msg “x” 5.5) (ros-msgs-set-field ?source “linear” ?sub-msg) (bind ?sink (ros-msgs-create-message “geometry_msgs/msg/Twist”))
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| rclcpp | |
| pluginlib | |
| cx_plugin | |
| cx_utils | |
| clips_vendor | |
| rosidl_typesupport_cpp | |
| rosidl_typesupport_introspection_cpp | |
| rcutils |
System Dependencies
| Name |
|---|
| libicu-dev |
Dependant Packages
| Name | Deps |
|---|---|
| clips_executive | |
| cx_bringup |
Launch files
Messages
Services
Plugins
Recent questions tagged cx_ros_msgs_plugin at Robotics Stack Exchange
|
|
cx_ros_msgs_plugin package from clips_executive repoclips_executive cx_bringup cx_clips_env_manager cx_msgs cx_plugin cx_ament_index_plugin cx_config_plugin cx_example_plugin cx_executive_plugin cx_file_load_plugin cx_protobuf_plugin cx_ros_msgs_plugin cx_tf2_pose_tracker_plugin cx_ros_comm_gen cx_tutorial_agents cx_utils |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/carologistics/clips_executive.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-06-24 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Tarik Viehmann
Authors
cx_ros_msgs_plugin
This package offers the `cx::RosMsgsPlugin’ that provides functions to interface with ros topics of any type. It makes use of the ROS introspection API to create generic publishers and subscriptions on-the-fly and to serialize and deserialize ROS messages.
Usage
Register this plugin with the plugin manager. It requires no additional configuration, an example setup is shown below:
clips_manager:
ros__parameters:
environments: ["main"]
main:
plugins: ["ros_msgs"]
ros_msgs:
plugin: "cx::RosMsgsPlugin"
CLIPS Features
This plugin defines deftemplates and user-defined functions that are described below.
Deftemplates
; Asserted by the create-subscription function.
; Retracted by the destroy-subscription function.
(deftemplate ros-msgs-subscription
(slot topic (type STRING)) ; example: "/cx_string_in"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the ros-msgs-create-publisher function.
; Retracted by the respective ros-msgs-destroy-publisher function.
(deftemplate-ros-msgs-publisher
(slot topic (type STRING)) ; example: "/cx_string_out"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the callback of a subscriber whenever a message arrives.
; Process the message and then call ros-msgs-destroy-msgs before retracting!
(deftemplate ros-msgs-message
(slot topic (type STRING)) ; example : "/cx_string_in"
(slot msg-ptr (type EXTERNAL-ADDRESS)) example: <Pointer-C-0x7f1550001d20>
)
Functions
; Create and destroy publishers and subscribers.
(ros-msgs-create-publisher ?topic-name ?msg-type) ; example args: "/cx_string_out" "std_msgs/msg/String"
(ros-msgs-destroy-publisher ?topic-name) ; example args: "/cx_string_out"
(ros-msgs-create-subscription ?topic-name ?msg-type) ; example args: "/cx_string_in" "std_msgs/msg/String"
(ros-msgs-destroy-subscription ?topic-name) ; example args: "/cx_string_in"
; Publish a given message over a topic.
; Requires the publisher to be created first using create-publisher.
(ros-msgs-publish ?msg-ptr ?topic-name)
; Create a message and return a pointer to it
(bind ?msg-ptr (ros-msgs-create-message ?msg-type)) ; example args: "std_msgs/msg/String"
; example ret: <Pointer-C-0x7f1550001d20>
; Destroy a message, call this after publishing a message or processing an incoming message to prevent it from staying in memory.
(ros-msgs-destroy-message ?msg-ptr) ; example args: <Pointer-C-0x7f1550001d20>
; Populate the field of a message.
; If the field is a message, then pass a pointer to that message obtained from ros-msgs-create-message.
(ros-msgs-set-field ?msg-ptr ?field-name ?field-value) ; example args: <Pointer-C-0x7f1550001d20> "data" "Hello World"
; Retrieve a field of a message.
; If the field is a message, then a pointer is returned that can be further inspected by passing it to ros-msgs-get-field.
(ros-msgs-get-field ?msg-ptr ?field-name)
Object Lifetimes and CLIPS
Since clips stores objects via void pointers, dynamic object lifetime management via std::shared_ptr does not work direcly from within CLIPS.
Instead, object lifetimes need to be managed more explicitly through the usage of create and destroy functions.
It is advised to clean up all objects as soon as they are not needed anymore in order to free up memory.
Note that when processing nested messages, the message obtained via ros-msgs-get-field is not allocating new memory, but rather points to the memory of the parent message. Calling ros-msgs-destroy-message is not necessary, as sub-messages retrieved via ros-msgs-get-field only hold a shallow reference and are cleaned up when the parent message is destroyed. Calling it anyways, will only invalidate this shallow reference.
When creating a new message via ros-msgs-create-message, new memory is allocated. When using ros-msgs-set-field to set a nested message, dynamic memory from the sub-message is moved to the parent message, hence the nested message loses all dynamicly allocated data (e.g., unbound arrays, strings). See the example below:
(bind ?new-msg (ros-msgs-create-message "geometry_msgs/msg/Twist"))
(bind ?sub-msg (ros-msgs-create-message "geometry_msgs/msg/Vector3"))
(ros-msgs-set-field ?sub-msg "x" 5.5)
(ros-msgs-set-field ?new-msg "linear" ?sub-msg)
; now all dynamicly allocated members of ?sub-msg are reset,
; as they are moved to the parent message.
In particular, obtaining a nested message from one message ?source and setting it as a member to another message ?sink will cause ?source to lose all dynamic data within it’s sub-message, as the sub-message obtained is actually pointing to memory within ?source:
```lisp (bind ?source (ros-msgs-create-message “geometry_msgs/msg/Twist”)) (bind ?sub-msg (ros-msgs-create-message “geometry_msgs/msg/Vector3”)) (ros-msgs-set-field ?sub-msg “x” 5.5) (ros-msgs-set-field ?source “linear” ?sub-msg) (bind ?sink (ros-msgs-create-message “geometry_msgs/msg/Twist”))
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| rclcpp | |
| pluginlib | |
| cx_plugin | |
| cx_utils | |
| clips_vendor | |
| rosidl_typesupport_cpp | |
| rosidl_typesupport_introspection_cpp | |
| rcutils |
System Dependencies
| Name |
|---|
| libicu-dev |
Dependant Packages
| Name | Deps |
|---|---|
| clips_executive | |
| cx_bringup |
Launch files
Messages
Services
Plugins
Recent questions tagged cx_ros_msgs_plugin at Robotics Stack Exchange
|
|
cx_ros_msgs_plugin package from clips_executive repoclips_executive cx_bringup cx_clips_env_manager cx_msgs cx_plugin cx_ament_index_plugin cx_config_plugin cx_example_plugin cx_executive_plugin cx_file_load_plugin cx_protobuf_plugin cx_ros_msgs_plugin cx_tf2_pose_tracker_plugin cx_ros_comm_gen cx_tutorial_agents cx_utils |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/carologistics/clips_executive.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-06-24 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Tarik Viehmann
Authors
cx_ros_msgs_plugin
This package offers the `cx::RosMsgsPlugin’ that provides functions to interface with ros topics of any type. It makes use of the ROS introspection API to create generic publishers and subscriptions on-the-fly and to serialize and deserialize ROS messages.
Usage
Register this plugin with the plugin manager. It requires no additional configuration, an example setup is shown below:
clips_manager:
ros__parameters:
environments: ["main"]
main:
plugins: ["ros_msgs"]
ros_msgs:
plugin: "cx::RosMsgsPlugin"
CLIPS Features
This plugin defines deftemplates and user-defined functions that are described below.
Deftemplates
; Asserted by the create-subscription function.
; Retracted by the destroy-subscription function.
(deftemplate ros-msgs-subscription
(slot topic (type STRING)) ; example: "/cx_string_in"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the ros-msgs-create-publisher function.
; Retracted by the respective ros-msgs-destroy-publisher function.
(deftemplate-ros-msgs-publisher
(slot topic (type STRING)) ; example: "/cx_string_out"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the callback of a subscriber whenever a message arrives.
; Process the message and then call ros-msgs-destroy-msgs before retracting!
(deftemplate ros-msgs-message
(slot topic (type STRING)) ; example : "/cx_string_in"
(slot msg-ptr (type EXTERNAL-ADDRESS)) example: <Pointer-C-0x7f1550001d20>
)
Functions
; Create and destroy publishers and subscribers.
(ros-msgs-create-publisher ?topic-name ?msg-type) ; example args: "/cx_string_out" "std_msgs/msg/String"
(ros-msgs-destroy-publisher ?topic-name) ; example args: "/cx_string_out"
(ros-msgs-create-subscription ?topic-name ?msg-type) ; example args: "/cx_string_in" "std_msgs/msg/String"
(ros-msgs-destroy-subscription ?topic-name) ; example args: "/cx_string_in"
; Publish a given message over a topic.
; Requires the publisher to be created first using create-publisher.
(ros-msgs-publish ?msg-ptr ?topic-name)
; Create a message and return a pointer to it
(bind ?msg-ptr (ros-msgs-create-message ?msg-type)) ; example args: "std_msgs/msg/String"
; example ret: <Pointer-C-0x7f1550001d20>
; Destroy a message, call this after publishing a message or processing an incoming message to prevent it from staying in memory.
(ros-msgs-destroy-message ?msg-ptr) ; example args: <Pointer-C-0x7f1550001d20>
; Populate the field of a message.
; If the field is a message, then pass a pointer to that message obtained from ros-msgs-create-message.
(ros-msgs-set-field ?msg-ptr ?field-name ?field-value) ; example args: <Pointer-C-0x7f1550001d20> "data" "Hello World"
; Retrieve a field of a message.
; If the field is a message, then a pointer is returned that can be further inspected by passing it to ros-msgs-get-field.
(ros-msgs-get-field ?msg-ptr ?field-name)
Object Lifetimes and CLIPS
Since clips stores objects via void pointers, dynamic object lifetime management via std::shared_ptr does not work direcly from within CLIPS.
Instead, object lifetimes need to be managed more explicitly through the usage of create and destroy functions.
It is advised to clean up all objects as soon as they are not needed anymore in order to free up memory.
Note that when processing nested messages, the message obtained via ros-msgs-get-field is not allocating new memory, but rather points to the memory of the parent message. Calling ros-msgs-destroy-message is not necessary, as sub-messages retrieved via ros-msgs-get-field only hold a shallow reference and are cleaned up when the parent message is destroyed. Calling it anyways, will only invalidate this shallow reference.
When creating a new message via ros-msgs-create-message, new memory is allocated. When using ros-msgs-set-field to set a nested message, dynamic memory from the sub-message is moved to the parent message, hence the nested message loses all dynamicly allocated data (e.g., unbound arrays, strings). See the example below:
(bind ?new-msg (ros-msgs-create-message "geometry_msgs/msg/Twist"))
(bind ?sub-msg (ros-msgs-create-message "geometry_msgs/msg/Vector3"))
(ros-msgs-set-field ?sub-msg "x" 5.5)
(ros-msgs-set-field ?new-msg "linear" ?sub-msg)
; now all dynamicly allocated members of ?sub-msg are reset,
; as they are moved to the parent message.
In particular, obtaining a nested message from one message ?source and setting it as a member to another message ?sink will cause ?source to lose all dynamic data within it’s sub-message, as the sub-message obtained is actually pointing to memory within ?source:
```lisp (bind ?source (ros-msgs-create-message “geometry_msgs/msg/Twist”)) (bind ?sub-msg (ros-msgs-create-message “geometry_msgs/msg/Vector3”)) (ros-msgs-set-field ?sub-msg “x” 5.5) (ros-msgs-set-field ?source “linear” ?sub-msg) (bind ?sink (ros-msgs-create-message “geometry_msgs/msg/Twist”))
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| rclcpp | |
| pluginlib | |
| cx_plugin | |
| cx_utils | |
| clips_vendor | |
| rosidl_typesupport_cpp | |
| rosidl_typesupport_introspection_cpp | |
| rcutils |
System Dependencies
| Name |
|---|
| libicu-dev |
Dependant Packages
| Name | Deps |
|---|---|
| clips_executive | |
| cx_bringup |
Launch files
Messages
Services
Plugins
Recent questions tagged cx_ros_msgs_plugin at Robotics Stack Exchange
|
|
cx_ros_msgs_plugin package from clips_executive repoclips_executive cx_bringup cx_clips_env_manager cx_msgs cx_plugin cx_ament_index_plugin cx_config_plugin cx_example_plugin cx_executive_plugin cx_file_load_plugin cx_protobuf_plugin cx_ros_msgs_plugin cx_tf2_pose_tracker_plugin cx_ros_comm_gen cx_tutorial_agents cx_utils |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/carologistics/clips_executive.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-06-24 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Tarik Viehmann
Authors
cx_ros_msgs_plugin
This package offers the `cx::RosMsgsPlugin’ that provides functions to interface with ros topics of any type. It makes use of the ROS introspection API to create generic publishers and subscriptions on-the-fly and to serialize and deserialize ROS messages.
Usage
Register this plugin with the plugin manager. It requires no additional configuration, an example setup is shown below:
clips_manager:
ros__parameters:
environments: ["main"]
main:
plugins: ["ros_msgs"]
ros_msgs:
plugin: "cx::RosMsgsPlugin"
CLIPS Features
This plugin defines deftemplates and user-defined functions that are described below.
Deftemplates
; Asserted by the create-subscription function.
; Retracted by the destroy-subscription function.
(deftemplate ros-msgs-subscription
(slot topic (type STRING)) ; example: "/cx_string_in"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the ros-msgs-create-publisher function.
; Retracted by the respective ros-msgs-destroy-publisher function.
(deftemplate-ros-msgs-publisher
(slot topic (type STRING)) ; example: "/cx_string_out"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the callback of a subscriber whenever a message arrives.
; Process the message and then call ros-msgs-destroy-msgs before retracting!
(deftemplate ros-msgs-message
(slot topic (type STRING)) ; example : "/cx_string_in"
(slot msg-ptr (type EXTERNAL-ADDRESS)) example: <Pointer-C-0x7f1550001d20>
)
Functions
; Create and destroy publishers and subscribers.
(ros-msgs-create-publisher ?topic-name ?msg-type) ; example args: "/cx_string_out" "std_msgs/msg/String"
(ros-msgs-destroy-publisher ?topic-name) ; example args: "/cx_string_out"
(ros-msgs-create-subscription ?topic-name ?msg-type) ; example args: "/cx_string_in" "std_msgs/msg/String"
(ros-msgs-destroy-subscription ?topic-name) ; example args: "/cx_string_in"
; Publish a given message over a topic.
; Requires the publisher to be created first using create-publisher.
(ros-msgs-publish ?msg-ptr ?topic-name)
; Create a message and return a pointer to it
(bind ?msg-ptr (ros-msgs-create-message ?msg-type)) ; example args: "std_msgs/msg/String"
; example ret: <Pointer-C-0x7f1550001d20>
; Destroy a message, call this after publishing a message or processing an incoming message to prevent it from staying in memory.
(ros-msgs-destroy-message ?msg-ptr) ; example args: <Pointer-C-0x7f1550001d20>
; Populate the field of a message.
; If the field is a message, then pass a pointer to that message obtained from ros-msgs-create-message.
(ros-msgs-set-field ?msg-ptr ?field-name ?field-value) ; example args: <Pointer-C-0x7f1550001d20> "data" "Hello World"
; Retrieve a field of a message.
; If the field is a message, then a pointer is returned that can be further inspected by passing it to ros-msgs-get-field.
(ros-msgs-get-field ?msg-ptr ?field-name)
Object Lifetimes and CLIPS
Since clips stores objects via void pointers, dynamic object lifetime management via std::shared_ptr does not work direcly from within CLIPS.
Instead, object lifetimes need to be managed more explicitly through the usage of create and destroy functions.
It is advised to clean up all objects as soon as they are not needed anymore in order to free up memory.
Note that when processing nested messages, the message obtained via ros-msgs-get-field is not allocating new memory, but rather points to the memory of the parent message. Calling ros-msgs-destroy-message is not necessary, as sub-messages retrieved via ros-msgs-get-field only hold a shallow reference and are cleaned up when the parent message is destroyed. Calling it anyways, will only invalidate this shallow reference.
When creating a new message via ros-msgs-create-message, new memory is allocated. When using ros-msgs-set-field to set a nested message, dynamic memory from the sub-message is moved to the parent message, hence the nested message loses all dynamicly allocated data (e.g., unbound arrays, strings). See the example below:
(bind ?new-msg (ros-msgs-create-message "geometry_msgs/msg/Twist"))
(bind ?sub-msg (ros-msgs-create-message "geometry_msgs/msg/Vector3"))
(ros-msgs-set-field ?sub-msg "x" 5.5)
(ros-msgs-set-field ?new-msg "linear" ?sub-msg)
; now all dynamicly allocated members of ?sub-msg are reset,
; as they are moved to the parent message.
In particular, obtaining a nested message from one message ?source and setting it as a member to another message ?sink will cause ?source to lose all dynamic data within it’s sub-message, as the sub-message obtained is actually pointing to memory within ?source:
```lisp (bind ?source (ros-msgs-create-message “geometry_msgs/msg/Twist”)) (bind ?sub-msg (ros-msgs-create-message “geometry_msgs/msg/Vector3”)) (ros-msgs-set-field ?sub-msg “x” 5.5) (ros-msgs-set-field ?source “linear” ?sub-msg) (bind ?sink (ros-msgs-create-message “geometry_msgs/msg/Twist”))
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| rclcpp | |
| pluginlib | |
| cx_plugin | |
| cx_utils | |
| clips_vendor | |
| rosidl_typesupport_cpp | |
| rosidl_typesupport_introspection_cpp | |
| rcutils |
System Dependencies
| Name |
|---|
| libicu-dev |
Dependant Packages
| Name | Deps |
|---|---|
| clips_executive | |
| cx_bringup |
Launch files
Messages
Services
Plugins
Recent questions tagged cx_ros_msgs_plugin at Robotics Stack Exchange
|
|
cx_ros_msgs_plugin package from clips_executive repoclips_executive cx_bringup cx_clips_env_manager cx_msgs cx_plugin cx_ament_index_plugin cx_config_plugin cx_example_plugin cx_executive_plugin cx_file_load_plugin cx_protobuf_plugin cx_ros_msgs_plugin cx_tf2_pose_tracker_plugin cx_ros_comm_gen cx_tutorial_agents cx_utils |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/carologistics/clips_executive.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-06-24 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Tarik Viehmann
Authors
cx_ros_msgs_plugin
This package offers the `cx::RosMsgsPlugin’ that provides functions to interface with ros topics of any type. It makes use of the ROS introspection API to create generic publishers and subscriptions on-the-fly and to serialize and deserialize ROS messages.
Usage
Register this plugin with the plugin manager. It requires no additional configuration, an example setup is shown below:
clips_manager:
ros__parameters:
environments: ["main"]
main:
plugins: ["ros_msgs"]
ros_msgs:
plugin: "cx::RosMsgsPlugin"
CLIPS Features
This plugin defines deftemplates and user-defined functions that are described below.
Deftemplates
; Asserted by the create-subscription function.
; Retracted by the destroy-subscription function.
(deftemplate ros-msgs-subscription
(slot topic (type STRING)) ; example: "/cx_string_in"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the ros-msgs-create-publisher function.
; Retracted by the respective ros-msgs-destroy-publisher function.
(deftemplate-ros-msgs-publisher
(slot topic (type STRING)) ; example: "/cx_string_out"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the callback of a subscriber whenever a message arrives.
; Process the message and then call ros-msgs-destroy-msgs before retracting!
(deftemplate ros-msgs-message
(slot topic (type STRING)) ; example : "/cx_string_in"
(slot msg-ptr (type EXTERNAL-ADDRESS)) example: <Pointer-C-0x7f1550001d20>
)
Functions
; Create and destroy publishers and subscribers.
(ros-msgs-create-publisher ?topic-name ?msg-type) ; example args: "/cx_string_out" "std_msgs/msg/String"
(ros-msgs-destroy-publisher ?topic-name) ; example args: "/cx_string_out"
(ros-msgs-create-subscription ?topic-name ?msg-type) ; example args: "/cx_string_in" "std_msgs/msg/String"
(ros-msgs-destroy-subscription ?topic-name) ; example args: "/cx_string_in"
; Publish a given message over a topic.
; Requires the publisher to be created first using create-publisher.
(ros-msgs-publish ?msg-ptr ?topic-name)
; Create a message and return a pointer to it
(bind ?msg-ptr (ros-msgs-create-message ?msg-type)) ; example args: "std_msgs/msg/String"
; example ret: <Pointer-C-0x7f1550001d20>
; Destroy a message, call this after publishing a message or processing an incoming message to prevent it from staying in memory.
(ros-msgs-destroy-message ?msg-ptr) ; example args: <Pointer-C-0x7f1550001d20>
; Populate the field of a message.
; If the field is a message, then pass a pointer to that message obtained from ros-msgs-create-message.
(ros-msgs-set-field ?msg-ptr ?field-name ?field-value) ; example args: <Pointer-C-0x7f1550001d20> "data" "Hello World"
; Retrieve a field of a message.
; If the field is a message, then a pointer is returned that can be further inspected by passing it to ros-msgs-get-field.
(ros-msgs-get-field ?msg-ptr ?field-name)
Object Lifetimes and CLIPS
Since clips stores objects via void pointers, dynamic object lifetime management via std::shared_ptr does not work direcly from within CLIPS.
Instead, object lifetimes need to be managed more explicitly through the usage of create and destroy functions.
It is advised to clean up all objects as soon as they are not needed anymore in order to free up memory.
Note that when processing nested messages, the message obtained via ros-msgs-get-field is not allocating new memory, but rather points to the memory of the parent message. Calling ros-msgs-destroy-message is not necessary, as sub-messages retrieved via ros-msgs-get-field only hold a shallow reference and are cleaned up when the parent message is destroyed. Calling it anyways, will only invalidate this shallow reference.
When creating a new message via ros-msgs-create-message, new memory is allocated. When using ros-msgs-set-field to set a nested message, dynamic memory from the sub-message is moved to the parent message, hence the nested message loses all dynamicly allocated data (e.g., unbound arrays, strings). See the example below:
(bind ?new-msg (ros-msgs-create-message "geometry_msgs/msg/Twist"))
(bind ?sub-msg (ros-msgs-create-message "geometry_msgs/msg/Vector3"))
(ros-msgs-set-field ?sub-msg "x" 5.5)
(ros-msgs-set-field ?new-msg "linear" ?sub-msg)
; now all dynamicly allocated members of ?sub-msg are reset,
; as they are moved to the parent message.
In particular, obtaining a nested message from one message ?source and setting it as a member to another message ?sink will cause ?source to lose all dynamic data within it’s sub-message, as the sub-message obtained is actually pointing to memory within ?source:
```lisp (bind ?source (ros-msgs-create-message “geometry_msgs/msg/Twist”)) (bind ?sub-msg (ros-msgs-create-message “geometry_msgs/msg/Vector3”)) (ros-msgs-set-field ?sub-msg “x” 5.5) (ros-msgs-set-field ?source “linear” ?sub-msg) (bind ?sink (ros-msgs-create-message “geometry_msgs/msg/Twist”))
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| rclcpp | |
| pluginlib | |
| cx_plugin | |
| cx_utils | |
| clips_vendor | |
| rosidl_typesupport_cpp | |
| rosidl_typesupport_introspection_cpp | |
| rcutils |
System Dependencies
| Name |
|---|
| libicu-dev |
Dependant Packages
| Name | Deps |
|---|---|
| clips_executive | |
| cx_bringup |
Launch files
Messages
Services
Plugins
Recent questions tagged cx_ros_msgs_plugin at Robotics Stack Exchange
|
|
cx_ros_msgs_plugin package from clips_executive repoclips_executive cx_bringup cx_clips_env_manager cx_msgs cx_plugin cx_ament_index_plugin cx_config_plugin cx_example_plugin cx_executive_plugin cx_file_load_plugin cx_protobuf_plugin cx_ros_msgs_plugin cx_tf2_pose_tracker_plugin cx_ros_comm_gen cx_tutorial_agents cx_utils |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/carologistics/clips_executive.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-06-24 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Tarik Viehmann
Authors
cx_ros_msgs_plugin
This package offers the `cx::RosMsgsPlugin’ that provides functions to interface with ros topics of any type. It makes use of the ROS introspection API to create generic publishers and subscriptions on-the-fly and to serialize and deserialize ROS messages.
Usage
Register this plugin with the plugin manager. It requires no additional configuration, an example setup is shown below:
clips_manager:
ros__parameters:
environments: ["main"]
main:
plugins: ["ros_msgs"]
ros_msgs:
plugin: "cx::RosMsgsPlugin"
CLIPS Features
This plugin defines deftemplates and user-defined functions that are described below.
Deftemplates
; Asserted by the create-subscription function.
; Retracted by the destroy-subscription function.
(deftemplate ros-msgs-subscription
(slot topic (type STRING)) ; example: "/cx_string_in"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the ros-msgs-create-publisher function.
; Retracted by the respective ros-msgs-destroy-publisher function.
(deftemplate-ros-msgs-publisher
(slot topic (type STRING)) ; example: "/cx_string_out"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the callback of a subscriber whenever a message arrives.
; Process the message and then call ros-msgs-destroy-msgs before retracting!
(deftemplate ros-msgs-message
(slot topic (type STRING)) ; example : "/cx_string_in"
(slot msg-ptr (type EXTERNAL-ADDRESS)) example: <Pointer-C-0x7f1550001d20>
)
Functions
; Create and destroy publishers and subscribers.
(ros-msgs-create-publisher ?topic-name ?msg-type) ; example args: "/cx_string_out" "std_msgs/msg/String"
(ros-msgs-destroy-publisher ?topic-name) ; example args: "/cx_string_out"
(ros-msgs-create-subscription ?topic-name ?msg-type) ; example args: "/cx_string_in" "std_msgs/msg/String"
(ros-msgs-destroy-subscription ?topic-name) ; example args: "/cx_string_in"
; Publish a given message over a topic.
; Requires the publisher to be created first using create-publisher.
(ros-msgs-publish ?msg-ptr ?topic-name)
; Create a message and return a pointer to it
(bind ?msg-ptr (ros-msgs-create-message ?msg-type)) ; example args: "std_msgs/msg/String"
; example ret: <Pointer-C-0x7f1550001d20>
; Destroy a message, call this after publishing a message or processing an incoming message to prevent it from staying in memory.
(ros-msgs-destroy-message ?msg-ptr) ; example args: <Pointer-C-0x7f1550001d20>
; Populate the field of a message.
; If the field is a message, then pass a pointer to that message obtained from ros-msgs-create-message.
(ros-msgs-set-field ?msg-ptr ?field-name ?field-value) ; example args: <Pointer-C-0x7f1550001d20> "data" "Hello World"
; Retrieve a field of a message.
; If the field is a message, then a pointer is returned that can be further inspected by passing it to ros-msgs-get-field.
(ros-msgs-get-field ?msg-ptr ?field-name)
Object Lifetimes and CLIPS
Since clips stores objects via void pointers, dynamic object lifetime management via std::shared_ptr does not work direcly from within CLIPS.
Instead, object lifetimes need to be managed more explicitly through the usage of create and destroy functions.
It is advised to clean up all objects as soon as they are not needed anymore in order to free up memory.
Note that when processing nested messages, the message obtained via ros-msgs-get-field is not allocating new memory, but rather points to the memory of the parent message. Calling ros-msgs-destroy-message is not necessary, as sub-messages retrieved via ros-msgs-get-field only hold a shallow reference and are cleaned up when the parent message is destroyed. Calling it anyways, will only invalidate this shallow reference.
When creating a new message via ros-msgs-create-message, new memory is allocated. When using ros-msgs-set-field to set a nested message, dynamic memory from the sub-message is moved to the parent message, hence the nested message loses all dynamicly allocated data (e.g., unbound arrays, strings). See the example below:
(bind ?new-msg (ros-msgs-create-message "geometry_msgs/msg/Twist"))
(bind ?sub-msg (ros-msgs-create-message "geometry_msgs/msg/Vector3"))
(ros-msgs-set-field ?sub-msg "x" 5.5)
(ros-msgs-set-field ?new-msg "linear" ?sub-msg)
; now all dynamicly allocated members of ?sub-msg are reset,
; as they are moved to the parent message.
In particular, obtaining a nested message from one message ?source and setting it as a member to another message ?sink will cause ?source to lose all dynamic data within it’s sub-message, as the sub-message obtained is actually pointing to memory within ?source:
```lisp (bind ?source (ros-msgs-create-message “geometry_msgs/msg/Twist”)) (bind ?sub-msg (ros-msgs-create-message “geometry_msgs/msg/Vector3”)) (ros-msgs-set-field ?sub-msg “x” 5.5) (ros-msgs-set-field ?source “linear” ?sub-msg) (bind ?sink (ros-msgs-create-message “geometry_msgs/msg/Twist”))
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| rclcpp | |
| pluginlib | |
| cx_plugin | |
| cx_utils | |
| clips_vendor | |
| rosidl_typesupport_cpp | |
| rosidl_typesupport_introspection_cpp | |
| rcutils |
System Dependencies
| Name |
|---|
| libicu-dev |
Dependant Packages
| Name | Deps |
|---|---|
| clips_executive | |
| cx_bringup |
Launch files
Messages
Services
Plugins
Recent questions tagged cx_ros_msgs_plugin at Robotics Stack Exchange
|
|
cx_ros_msgs_plugin package from clips_executive repoclips_executive cx_bringup cx_clips_env_manager cx_msgs cx_plugin cx_ament_index_plugin cx_config_plugin cx_example_plugin cx_executive_plugin cx_file_load_plugin cx_protobuf_plugin cx_ros_msgs_plugin cx_tf2_pose_tracker_plugin cx_ros_comm_gen cx_tutorial_agents cx_utils |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/carologistics/clips_executive.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-06-24 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Tarik Viehmann
Authors
cx_ros_msgs_plugin
This package offers the `cx::RosMsgsPlugin’ that provides functions to interface with ros topics of any type. It makes use of the ROS introspection API to create generic publishers and subscriptions on-the-fly and to serialize and deserialize ROS messages.
Usage
Register this plugin with the plugin manager. It requires no additional configuration, an example setup is shown below:
clips_manager:
ros__parameters:
environments: ["main"]
main:
plugins: ["ros_msgs"]
ros_msgs:
plugin: "cx::RosMsgsPlugin"
CLIPS Features
This plugin defines deftemplates and user-defined functions that are described below.
Deftemplates
; Asserted by the create-subscription function.
; Retracted by the destroy-subscription function.
(deftemplate ros-msgs-subscription
(slot topic (type STRING)) ; example: "/cx_string_in"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the ros-msgs-create-publisher function.
; Retracted by the respective ros-msgs-destroy-publisher function.
(deftemplate-ros-msgs-publisher
(slot topic (type STRING)) ; example: "/cx_string_out"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the callback of a subscriber whenever a message arrives.
; Process the message and then call ros-msgs-destroy-msgs before retracting!
(deftemplate ros-msgs-message
(slot topic (type STRING)) ; example : "/cx_string_in"
(slot msg-ptr (type EXTERNAL-ADDRESS)) example: <Pointer-C-0x7f1550001d20>
)
Functions
; Create and destroy publishers and subscribers.
(ros-msgs-create-publisher ?topic-name ?msg-type) ; example args: "/cx_string_out" "std_msgs/msg/String"
(ros-msgs-destroy-publisher ?topic-name) ; example args: "/cx_string_out"
(ros-msgs-create-subscription ?topic-name ?msg-type) ; example args: "/cx_string_in" "std_msgs/msg/String"
(ros-msgs-destroy-subscription ?topic-name) ; example args: "/cx_string_in"
; Publish a given message over a topic.
; Requires the publisher to be created first using create-publisher.
(ros-msgs-publish ?msg-ptr ?topic-name)
; Create a message and return a pointer to it
(bind ?msg-ptr (ros-msgs-create-message ?msg-type)) ; example args: "std_msgs/msg/String"
; example ret: <Pointer-C-0x7f1550001d20>
; Destroy a message, call this after publishing a message or processing an incoming message to prevent it from staying in memory.
(ros-msgs-destroy-message ?msg-ptr) ; example args: <Pointer-C-0x7f1550001d20>
; Populate the field of a message.
; If the field is a message, then pass a pointer to that message obtained from ros-msgs-create-message.
(ros-msgs-set-field ?msg-ptr ?field-name ?field-value) ; example args: <Pointer-C-0x7f1550001d20> "data" "Hello World"
; Retrieve a field of a message.
; If the field is a message, then a pointer is returned that can be further inspected by passing it to ros-msgs-get-field.
(ros-msgs-get-field ?msg-ptr ?field-name)
Object Lifetimes and CLIPS
Since clips stores objects via void pointers, dynamic object lifetime management via std::shared_ptr does not work direcly from within CLIPS.
Instead, object lifetimes need to be managed more explicitly through the usage of create and destroy functions.
It is advised to clean up all objects as soon as they are not needed anymore in order to free up memory.
Note that when processing nested messages, the message obtained via ros-msgs-get-field is not allocating new memory, but rather points to the memory of the parent message. Calling ros-msgs-destroy-message is not necessary, as sub-messages retrieved via ros-msgs-get-field only hold a shallow reference and are cleaned up when the parent message is destroyed. Calling it anyways, will only invalidate this shallow reference.
When creating a new message via ros-msgs-create-message, new memory is allocated. When using ros-msgs-set-field to set a nested message, dynamic memory from the sub-message is moved to the parent message, hence the nested message loses all dynamicly allocated data (e.g., unbound arrays, strings). See the example below:
(bind ?new-msg (ros-msgs-create-message "geometry_msgs/msg/Twist"))
(bind ?sub-msg (ros-msgs-create-message "geometry_msgs/msg/Vector3"))
(ros-msgs-set-field ?sub-msg "x" 5.5)
(ros-msgs-set-field ?new-msg "linear" ?sub-msg)
; now all dynamicly allocated members of ?sub-msg are reset,
; as they are moved to the parent message.
In particular, obtaining a nested message from one message ?source and setting it as a member to another message ?sink will cause ?source to lose all dynamic data within it’s sub-message, as the sub-message obtained is actually pointing to memory within ?source:
```lisp (bind ?source (ros-msgs-create-message “geometry_msgs/msg/Twist”)) (bind ?sub-msg (ros-msgs-create-message “geometry_msgs/msg/Vector3”)) (ros-msgs-set-field ?sub-msg “x” 5.5) (ros-msgs-set-field ?source “linear” ?sub-msg) (bind ?sink (ros-msgs-create-message “geometry_msgs/msg/Twist”))
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| rclcpp | |
| pluginlib | |
| cx_plugin | |
| cx_utils | |
| clips_vendor | |
| rosidl_typesupport_cpp | |
| rosidl_typesupport_introspection_cpp | |
| rcutils |
System Dependencies
| Name |
|---|
| libicu-dev |
Dependant Packages
| Name | Deps |
|---|---|
| clips_executive | |
| cx_bringup |
Launch files
Messages
Services
Plugins
Recent questions tagged cx_ros_msgs_plugin at Robotics Stack Exchange
|
|
cx_ros_msgs_plugin package from clips_executive repoclips_executive cx_bringup cx_clips_env_manager cx_msgs cx_plugin cx_ament_index_plugin cx_config_plugin cx_example_plugin cx_executive_plugin cx_file_load_plugin cx_protobuf_plugin cx_ros_msgs_plugin cx_tf2_pose_tracker_plugin cx_ros_comm_gen cx_tutorial_agents cx_utils |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/carologistics/clips_executive.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-06-24 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Tarik Viehmann
Authors
cx_ros_msgs_plugin
This package offers the `cx::RosMsgsPlugin’ that provides functions to interface with ros topics of any type. It makes use of the ROS introspection API to create generic publishers and subscriptions on-the-fly and to serialize and deserialize ROS messages.
Usage
Register this plugin with the plugin manager. It requires no additional configuration, an example setup is shown below:
clips_manager:
ros__parameters:
environments: ["main"]
main:
plugins: ["ros_msgs"]
ros_msgs:
plugin: "cx::RosMsgsPlugin"
CLIPS Features
This plugin defines deftemplates and user-defined functions that are described below.
Deftemplates
; Asserted by the create-subscription function.
; Retracted by the destroy-subscription function.
(deftemplate ros-msgs-subscription
(slot topic (type STRING)) ; example: "/cx_string_in"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the ros-msgs-create-publisher function.
; Retracted by the respective ros-msgs-destroy-publisher function.
(deftemplate-ros-msgs-publisher
(slot topic (type STRING)) ; example: "/cx_string_out"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the callback of a subscriber whenever a message arrives.
; Process the message and then call ros-msgs-destroy-msgs before retracting!
(deftemplate ros-msgs-message
(slot topic (type STRING)) ; example : "/cx_string_in"
(slot msg-ptr (type EXTERNAL-ADDRESS)) example: <Pointer-C-0x7f1550001d20>
)
Functions
; Create and destroy publishers and subscribers.
(ros-msgs-create-publisher ?topic-name ?msg-type) ; example args: "/cx_string_out" "std_msgs/msg/String"
(ros-msgs-destroy-publisher ?topic-name) ; example args: "/cx_string_out"
(ros-msgs-create-subscription ?topic-name ?msg-type) ; example args: "/cx_string_in" "std_msgs/msg/String"
(ros-msgs-destroy-subscription ?topic-name) ; example args: "/cx_string_in"
; Publish a given message over a topic.
; Requires the publisher to be created first using create-publisher.
(ros-msgs-publish ?msg-ptr ?topic-name)
; Create a message and return a pointer to it
(bind ?msg-ptr (ros-msgs-create-message ?msg-type)) ; example args: "std_msgs/msg/String"
; example ret: <Pointer-C-0x7f1550001d20>
; Destroy a message, call this after publishing a message or processing an incoming message to prevent it from staying in memory.
(ros-msgs-destroy-message ?msg-ptr) ; example args: <Pointer-C-0x7f1550001d20>
; Populate the field of a message.
; If the field is a message, then pass a pointer to that message obtained from ros-msgs-create-message.
(ros-msgs-set-field ?msg-ptr ?field-name ?field-value) ; example args: <Pointer-C-0x7f1550001d20> "data" "Hello World"
; Retrieve a field of a message.
; If the field is a message, then a pointer is returned that can be further inspected by passing it to ros-msgs-get-field.
(ros-msgs-get-field ?msg-ptr ?field-name)
Object Lifetimes and CLIPS
Since clips stores objects via void pointers, dynamic object lifetime management via std::shared_ptr does not work direcly from within CLIPS.
Instead, object lifetimes need to be managed more explicitly through the usage of create and destroy functions.
It is advised to clean up all objects as soon as they are not needed anymore in order to free up memory.
Note that when processing nested messages, the message obtained via ros-msgs-get-field is not allocating new memory, but rather points to the memory of the parent message. Calling ros-msgs-destroy-message is not necessary, as sub-messages retrieved via ros-msgs-get-field only hold a shallow reference and are cleaned up when the parent message is destroyed. Calling it anyways, will only invalidate this shallow reference.
When creating a new message via ros-msgs-create-message, new memory is allocated. When using ros-msgs-set-field to set a nested message, dynamic memory from the sub-message is moved to the parent message, hence the nested message loses all dynamicly allocated data (e.g., unbound arrays, strings). See the example below:
(bind ?new-msg (ros-msgs-create-message "geometry_msgs/msg/Twist"))
(bind ?sub-msg (ros-msgs-create-message "geometry_msgs/msg/Vector3"))
(ros-msgs-set-field ?sub-msg "x" 5.5)
(ros-msgs-set-field ?new-msg "linear" ?sub-msg)
; now all dynamicly allocated members of ?sub-msg are reset,
; as they are moved to the parent message.
In particular, obtaining a nested message from one message ?source and setting it as a member to another message ?sink will cause ?source to lose all dynamic data within it’s sub-message, as the sub-message obtained is actually pointing to memory within ?source:
```lisp (bind ?source (ros-msgs-create-message “geometry_msgs/msg/Twist”)) (bind ?sub-msg (ros-msgs-create-message “geometry_msgs/msg/Vector3”)) (ros-msgs-set-field ?sub-msg “x” 5.5) (ros-msgs-set-field ?source “linear” ?sub-msg) (bind ?sink (ros-msgs-create-message “geometry_msgs/msg/Twist”))
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| rclcpp | |
| pluginlib | |
| cx_plugin | |
| cx_utils | |
| clips_vendor | |
| rosidl_typesupport_cpp | |
| rosidl_typesupport_introspection_cpp | |
| rcutils |
System Dependencies
| Name |
|---|
| libicu-dev |
Dependant Packages
| Name | Deps |
|---|---|
| clips_executive | |
| cx_bringup |
Launch files
Messages
Services
Plugins
Recent questions tagged cx_ros_msgs_plugin at Robotics Stack Exchange
|
|
cx_ros_msgs_plugin package from clips_executive repoclips_executive cx_bringup cx_clips_env_manager cx_msgs cx_plugin cx_ament_index_plugin cx_config_plugin cx_example_plugin cx_executive_plugin cx_file_load_plugin cx_protobuf_plugin cx_ros_msgs_plugin cx_tf2_pose_tracker_plugin cx_ros_comm_gen cx_tutorial_agents cx_utils |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/carologistics/clips_executive.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-06-24 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Tarik Viehmann
Authors
cx_ros_msgs_plugin
This package offers the `cx::RosMsgsPlugin’ that provides functions to interface with ros topics of any type. It makes use of the ROS introspection API to create generic publishers and subscriptions on-the-fly and to serialize and deserialize ROS messages.
Usage
Register this plugin with the plugin manager. It requires no additional configuration, an example setup is shown below:
clips_manager:
ros__parameters:
environments: ["main"]
main:
plugins: ["ros_msgs"]
ros_msgs:
plugin: "cx::RosMsgsPlugin"
CLIPS Features
This plugin defines deftemplates and user-defined functions that are described below.
Deftemplates
; Asserted by the create-subscription function.
; Retracted by the destroy-subscription function.
(deftemplate ros-msgs-subscription
(slot topic (type STRING)) ; example: "/cx_string_in"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the ros-msgs-create-publisher function.
; Retracted by the respective ros-msgs-destroy-publisher function.
(deftemplate-ros-msgs-publisher
(slot topic (type STRING)) ; example: "/cx_string_out"
(slot type (type STRING)) ; example: "std_msgs/msg/String"
)
; Asserted by the callback of a subscriber whenever a message arrives.
; Process the message and then call ros-msgs-destroy-msgs before retracting!
(deftemplate ros-msgs-message
(slot topic (type STRING)) ; example : "/cx_string_in"
(slot msg-ptr (type EXTERNAL-ADDRESS)) example: <Pointer-C-0x7f1550001d20>
)
Functions
; Create and destroy publishers and subscribers.
(ros-msgs-create-publisher ?topic-name ?msg-type) ; example args: "/cx_string_out" "std_msgs/msg/String"
(ros-msgs-destroy-publisher ?topic-name) ; example args: "/cx_string_out"
(ros-msgs-create-subscription ?topic-name ?msg-type) ; example args: "/cx_string_in" "std_msgs/msg/String"
(ros-msgs-destroy-subscription ?topic-name) ; example args: "/cx_string_in"
; Publish a given message over a topic.
; Requires the publisher to be created first using create-publisher.
(ros-msgs-publish ?msg-ptr ?topic-name)
; Create a message and return a pointer to it
(bind ?msg-ptr (ros-msgs-create-message ?msg-type)) ; example args: "std_msgs/msg/String"
; example ret: <Pointer-C-0x7f1550001d20>
; Destroy a message, call this after publishing a message or processing an incoming message to prevent it from staying in memory.
(ros-msgs-destroy-message ?msg-ptr) ; example args: <Pointer-C-0x7f1550001d20>
; Populate the field of a message.
; If the field is a message, then pass a pointer to that message obtained from ros-msgs-create-message.
(ros-msgs-set-field ?msg-ptr ?field-name ?field-value) ; example args: <Pointer-C-0x7f1550001d20> "data" "Hello World"
; Retrieve a field of a message.
; If the field is a message, then a pointer is returned that can be further inspected by passing it to ros-msgs-get-field.
(ros-msgs-get-field ?msg-ptr ?field-name)
Object Lifetimes and CLIPS
Since clips stores objects via void pointers, dynamic object lifetime management via std::shared_ptr does not work direcly from within CLIPS.
Instead, object lifetimes need to be managed more explicitly through the usage of create and destroy functions.
It is advised to clean up all objects as soon as they are not needed anymore in order to free up memory.
Note that when processing nested messages, the message obtained via ros-msgs-get-field is not allocating new memory, but rather points to the memory of the parent message. Calling ros-msgs-destroy-message is not necessary, as sub-messages retrieved via ros-msgs-get-field only hold a shallow reference and are cleaned up when the parent message is destroyed. Calling it anyways, will only invalidate this shallow reference.
When creating a new message via ros-msgs-create-message, new memory is allocated. When using ros-msgs-set-field to set a nested message, dynamic memory from the sub-message is moved to the parent message, hence the nested message loses all dynamicly allocated data (e.g., unbound arrays, strings). See the example below:
(bind ?new-msg (ros-msgs-create-message "geometry_msgs/msg/Twist"))
(bind ?sub-msg (ros-msgs-create-message "geometry_msgs/msg/Vector3"))
(ros-msgs-set-field ?sub-msg "x" 5.5)
(ros-msgs-set-field ?new-msg "linear" ?sub-msg)
; now all dynamicly allocated members of ?sub-msg are reset,
; as they are moved to the parent message.
In particular, obtaining a nested message from one message ?source and setting it as a member to another message ?sink will cause ?source to lose all dynamic data within it’s sub-message, as the sub-message obtained is actually pointing to memory within ?source:
```lisp (bind ?source (ros-msgs-create-message “geometry_msgs/msg/Twist”)) (bind ?sub-msg (ros-msgs-create-message “geometry_msgs/msg/Vector3”)) (ros-msgs-set-field ?sub-msg “x” 5.5) (ros-msgs-set-field ?source “linear” ?sub-msg) (bind ?sink (ros-msgs-create-message “geometry_msgs/msg/Twist”))
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| rclcpp | |
| pluginlib | |
| cx_plugin | |
| cx_utils | |
| clips_vendor | |
| rosidl_typesupport_cpp | |
| rosidl_typesupport_introspection_cpp | |
| rcutils |
System Dependencies
| Name |
|---|
| libicu-dev |
Dependant Packages
| Name | Deps |
|---|---|
| clips_executive | |
| cx_bringup |