3. API description¶

All the following calls must be performed from the robot.

Environment setup API

In order to get the module to connect to your roscore, you should send it your IP.

void ROS-Driver::setMasterURI ( const std::string& uri )

Set current master URI. The IP adress given is from defauth eth0 network interface.

param: uri - string in form of http://<ip>:11311
void ROS-Driver::setMasterURINet ( const std::string& uri, const std::string& network_interface )

Set current master URI using a given network interface.

param: uri - string in form of http://<ip>:11311

param: network_interface - string. For example tether.
const std::string& ROS-Driver::getMasterURI ()

Get current master URI using a given network interface.

return: string in form of http://<ip>:11311

Converters API

The converters are responsible for operating conversion between NAOqi messages and ROS messages, in accordance with given frequency.

const std::vector< std::string >& ROS-Driver::getAvailableConverters ()

Get all registered converters in the module.

return: vector of string of all converter’s topic name
void ROS-Driver::registerMemoryConverter ( const std::string& key, float frequency, int type )

Register a new converter for the memory key given.

param: key - naoqi memory key. For example ALMemory/KeyAdded.

param: frequency - frequency of the converter (in Hz)

param: type - type identifier of the given memory data.
```
Available types are:
* 0 - None/Undefined
* 1 - Int
* 2 - Float
* 3 - String
* 4 - Bool
```
void ROS-Driver::addMemoryConverters ( std::string filePath )

Add some new converters for memory keys. This call requires as argument the path to a JSON file (stored on the robot) structured as the following one. memKeys and topic must be present and filled. Frequency is optional, and if not there, the default value is 10 Hz.

param: filePath - path of the JSON file
```
{
    "memKeys": [
                "KeyName1",
                "KeyName2"
               ],
    "topic": "topicName",
    "frequency": 10
}
```

Publishers API

void ROS-Driver::startPublishing ()

Start/enable publishing all registered publisher
void ROS-Driver::stopPublishing ()

Stop/disable publishing all registered publisher
const std::vector< std::string >& ROS-Driver::getSubscribedPublishers ()

Get all subscribed publishers.

return: vector of string of publisher’s topic name

Recorders API

void ROS-Driver::startRecording ()

Start/enable recording all registered recorder.

This will record all topics in one ROSbag, named after current date & time. The ROSbag is stored in the exact path where the ROS-Driver module is launched (meaning that it will be stored on the robot if it’s launched from here).
void ROS-Driver::stopRecording ()

Stop/disable recording all registered recorder.

You can now have a look to the list of available topics, or you can go back to the index.

If you want to know more about the API, you can look at the doxygen documentation here