Class Topic<T>

Publish and/or subscribe to a topic in ROS.

Emits the following events:

'warning' - If there are any warning during the Topic creation.
'message' - The message data from rosbridge.

Type Parameters

Hierarchy

EventEmitter<
    {
        message: [T];
        unadvertise: undefined;
        unsubscribe: undefined;
        warning: [string];
    },
>
- Topic

Constructors

constructor

new Topic<T>(
    options: {
        compression?: string;
        latch?: boolean;
        messageType: string;
        name: string;
        queue_length?: number;
        queue_size?: number;
        reconnect_on_close?: boolean;
        ros: Ros;
        throttle_rate?: number;
    },
): Topic<T>
Type Parameters
- T
Parameters
- options: {
      compression?: string;
      latch?: boolean;
      messageType: string;
      name: string;
      queue_length?: number;
      queue_size?: number;
      reconnect_on_close?: boolean;
      ros: Ros;
      throttle_rate?: number;
  }
  - Optionalcompression?: string
    The type of compression to use, like 'png', 'cbor', or 'cbor-raw'.
  - Optionallatch?: boolean
    Latch the topic when publishing.
  - messageType: string
    The message type, like 'std_msgs/String'.
  - name: string
    The topic name, like '/cmd_vel'.
  - Optionalqueue_length?: number
    The queue length at bridge side used when subscribing.
  - Optionalqueue_size?: number
    The queue created at bridge side for re-publishing webtopics.
  - Optionalreconnect_on_close?: boolean
    The flag to enable resubscription and readvertisement on close event.
  - ros: Ros
    The ROSLIB.Ros connection handle.
  - Optionalthrottle_rate?: number
    The rate (in ms in between messages) at which to throttle the topics.
Returns Topic<T>
Overrides EventEmitter<{ message: [T]; warning: [string]; unsubscribe: undefined; unadvertise: undefined; }>.constructor
- Defined in src/core/Topic.ts:60

Properties

`Optional`advertiseId

advertiseId?: string

callForSubscribeAndAdvertise

callForSubscribeAndAdvertise: (
message: RosbridgeAdvertiseMessage | RosbridgeSubscribeMessage,
) => void

compression

compression: string

isAdvertised

isAdvertised: boolean = false

latch

latch: boolean

messageType

messageType: string

name

name: string

queue_length

queue_length: number

queue_size

queue_size: number

reconnect_on_close

reconnect_on_close: boolean

reconnectFunc

reconnectFunc: (() => void) | undefined = undefined

ros

ros: Ros

subscribeId

subscribeId: string | null = null

throttle_rate

throttle_rate: number

waitForReconnect

waitForReconnect: boolean = false

`Static`prefixed

prefixed: string | boolean

Methods

addListener

addListener<T extends "message" | "warning" | "unadvertise" | "unsubscribe">(
    event: T,
    fn: (
        ...args: ArgumentMap<
            {
                message: [T];
                unadvertise: undefined;
                unsubscribe: undefined;
                warning: [string];
            },
        >[Extract<T, "message" | "warning" | "unadvertise" | "unsubscribe">],
    ) => void,
    context?: any,
): this
Type Parameters
- T extends "message" | "warning" | "unadvertise" | "unsubscribe"
Parameters
- event: T
- fn: (
      ...args: ArgumentMap<
          {
              message: [T];
              unadvertise: undefined;
              unsubscribe: undefined;
              warning: [string];
          },
      >[Extract<T, "message" | "warning" | "unadvertise" | "unsubscribe">],
  ) => void
- Optionalcontext: any
Returns this
Inherited from EventEmitter.addListener
- Defined in node_modules/eventemitter3/index.d.ts:45

advertise

advertise(): void
Register as a publisher for the topic.

Returns void
- Defined in src/core/Topic.ts:212

emit

emit<T extends "message" | "warning" | "unadvertise" | "unsubscribe">(
    event: T,
    ...args: ArgumentMap<
        {
            message: [T];
            unadvertise: undefined;
            unsubscribe: undefined;
            warning: [string];
        },
    >[Extract<T, "message" | "warning" | "unadvertise" | "unsubscribe">],
): boolean
Calls each of the listeners registered for a given event.
Type Parameters
- T extends "message" | "warning" | "unadvertise" | "unsubscribe"
Parameters
- event: T
- ...args: ArgumentMap<
      {
          message: [T];
          unadvertise: undefined;
          unsubscribe: undefined;
          warning: [string];
      },
  >[Extract<T, "message" | "warning" | "unadvertise" | "unsubscribe">]
Returns boolean
Inherited from EventEmitter.emit
- Defined in node_modules/eventemitter3/index.d.ts:32

eventNames

eventNames(): ("message" | "warning" | "unadvertise" | "unsubscribe")[]
Return an array listing the events for which the emitter has registered listeners.

Returns ("message" | "warning" | "unadvertise" | "unsubscribe")[]
Inherited from EventEmitter.eventNames
- Defined in node_modules/eventemitter3/index.d.ts:15

getPublishers

getPublishers(
callback: (publishers: string[]) => void,
failedCallback?: (error: string) => void,
): void
Retrieves list of publishers for this topic.
Parameters
- callback: (publishers: string[]) => void
  Function with the following params:
  
  publishers - The list of publishers.
- OptionalfailedCallback: (error: string) => void = console.error
  The callback function when the service call failed.
Returns void
- Defined in src/core/Topic.ts:276

listenerCount

listenerCount(
event: "message" | "warning" | "unadvertise" | "unsubscribe",
): number
Return the number of listeners listening to a given event.
Parameters
- event: "message" | "warning" | "unadvertise" | "unsubscribe"
Returns number
Inherited from EventEmitter.listenerCount
- Defined in node_modules/eventemitter3/index.d.ts:27

listeners

listeners<T extends "message" | "warning" | "unadvertise" | "unsubscribe">(
    event: T,
): (
    (
        ...args: ArgumentMap<
            {
                message: [T];
                unadvertise: undefined;
                unsubscribe: undefined;
                warning: [string];
            },
        >[Extract<T, "message" | "warning" | "unadvertise" | "unsubscribe">],
    ) => void
)[]
Return the listeners registered for a given event.
Type Parameters
- T extends "message" | "warning" | "unadvertise" | "unsubscribe"
Parameters
- event: T
Returns (
    (
        ...args: ArgumentMap<
            {
                message: [T];
                unadvertise: undefined;
                unsubscribe: undefined;
                warning: [string];
            },
        >[Extract<T, "message" | "warning" | "unadvertise" | "unsubscribe">],
    ) => void
)[]
Inherited from EventEmitter.listeners
- Defined in node_modules/eventemitter3/index.d.ts:20

off

off<T extends "message" | "warning" | "unadvertise" | "unsubscribe">(
    event: T,
    fn?: (
        ...args: ArgumentMap<
            {
                message: [T];
                unadvertise: undefined;
                unsubscribe: undefined;
                warning: [string];
            },
        >[Extract<T, "message" | "warning" | "unadvertise" | "unsubscribe">],
    ) => void,
    context?: any,
    once?: boolean,
): this
Type Parameters
- T extends "message" | "warning" | "unadvertise" | "unsubscribe"
Parameters
- event: T
- Optionalfn: (
      ...args: ArgumentMap<
          {
              message: [T];
              unadvertise: undefined;
              unsubscribe: undefined;
              warning: [string];
          },
      >[Extract<T, "message" | "warning" | "unadvertise" | "unsubscribe">],
  ) => void
- Optionalcontext: any
- Optionalonce: boolean
Returns this
Inherited from EventEmitter.off
- Defined in node_modules/eventemitter3/index.d.ts:69

on

on<T extends "message" | "warning" | "unadvertise" | "unsubscribe">(
    event: T,
    fn: (
        ...args: ArgumentMap<
            {
                message: [T];
                unadvertise: undefined;
                unsubscribe: undefined;
                warning: [string];
            },
        >[Extract<T, "message" | "warning" | "unadvertise" | "unsubscribe">],
    ) => void,
    context?: any,
): this
Add a listener for a given event.
Type Parameters
- T extends "message" | "warning" | "unadvertise" | "unsubscribe"
Parameters
- event: T
- fn: (
      ...args: ArgumentMap<
          {
              message: [T];
              unadvertise: undefined;
              unsubscribe: undefined;
              warning: [string];
          },
      >[Extract<T, "message" | "warning" | "unadvertise" | "unsubscribe">],
  ) => void
- Optionalcontext: any
Returns this
Inherited from EventEmitter.on
- Defined in node_modules/eventemitter3/index.d.ts:40

once

once<T extends "message" | "warning" | "unadvertise" | "unsubscribe">(
    event: T,
    fn: (
        ...args: ArgumentMap<
            {
                message: [T];
                unadvertise: undefined;
                unsubscribe: undefined;
                warning: [string];
            },
        >[Extract<T, "message" | "warning" | "unadvertise" | "unsubscribe">],
    ) => void,
    context?: any,
): this
Add a one-time listener for a given event.
Type Parameters
- T extends "message" | "warning" | "unadvertise" | "unsubscribe"
Parameters
- event: T
- fn: (
      ...args: ArgumentMap<
          {
              message: [T];
              unadvertise: undefined;
              unsubscribe: undefined;
              warning: [string];
          },
      >[Extract<T, "message" | "warning" | "unadvertise" | "unsubscribe">],
  ) => void
- Optionalcontext: any
Returns this
Inherited from EventEmitter.once
- Defined in node_modules/eventemitter3/index.d.ts:54

publish

publish(message: T): void
Publish the message.
Parameters
- message: T
  The message to publish.
Returns void
- Defined in src/core/Topic.ts:256

removeAllListeners

removeAllListeners(
event?: "message" | "warning" | "unadvertise" | "unsubscribe",
): this
Remove all listeners, or those of the specified event.
Parameters
- Optionalevent: "message" | "warning" | "unadvertise" | "unsubscribe"
Returns this
Inherited from EventEmitter.removeAllListeners
- Defined in node_modules/eventemitter3/index.d.ts:79

removeListener

removeListener<T extends "message" | "warning" | "unadvertise" | "unsubscribe">(
    event: T,
    fn?: (
        ...args: ArgumentMap<
            {
                message: [T];
                unadvertise: undefined;
                unsubscribe: undefined;
                warning: [string];
            },
        >[Extract<T, "message" | "warning" | "unadvertise" | "unsubscribe">],
    ) => void,
    context?: any,
    once?: boolean,
): this
Remove the listeners of a given event.
Type Parameters
- T extends "message" | "warning" | "unadvertise" | "unsubscribe"
Parameters
- event: T
- Optionalfn: (
      ...args: ArgumentMap<
          {
              message: [T];
              unadvertise: undefined;
              unsubscribe: undefined;
              warning: [string];
          },
      >[Extract<T, "message" | "warning" | "unadvertise" | "unsubscribe">],
  ) => void
- Optionalcontext: any
- Optionalonce: boolean
Returns this
Inherited from EventEmitter.removeListener
- Defined in node_modules/eventemitter3/index.d.ts:63

subscribe(callback: (message: T) => void): void
Every time a message is published for the given topic, the callback will be called with the message object.
Parameters
- callback: (message: T) => void
  Function with the following params:
Returns void
- Defined in src/core/Topic.ts:157

unadvertise

unadvertise(): void
Unregister as a publisher for the topic.

Returns void
- Defined in src/core/Topic.ts:236

unsubscribe

unsubscribe(callback?: (...args: any[]) => void): void
Unregister as a subscriber for the topic. Unsubscribing will stop and remove all subscribe callbacks. To remove a callback, you must explicitly pass the callback function in.
Parameters
- Optionalcallback: (...args: any[]) => void
  The callback to unregister, if provided and other listeners are registered the topic won't unsubscribe, just stop emitting to the passed listener.
Returns void
- Defined in src/core/Topic.ts:185

Class Topic<T>

Type Parameters

Hierarchy

Index

Constructors

Properties

Methods

Constructors

constructor

Type Parameters

Parameters

Optionalcompression?: string

Optionallatch?: boolean

messageType: string

name: string

Optionalqueue_length?: number

Optionalqueue_size?: number

Optionalreconnect_on_close?: boolean

ros: Ros

Optionalthrottle_rate?: number

Returns Topic<T>

Properties

OptionaladvertiseId

callForSubscribeAndAdvertise

compression

isAdvertised

latch

messageType

name

queue_length

queue_size

reconnect_on_close

reconnectFunc

ros

subscribeId

throttle_rate

waitForReconnect

Staticprefixed

Methods

addListener

Type Parameters

Parameters

Returns this

advertise

Returns void

emit

Type Parameters

Parameters

Returns boolean

eventNames

Returns ("message" | "warning" | "unadvertise" | "unsubscribe")[]

getPublishers

Parameters

Returns void

listenerCount

Parameters

Returns number

listeners

Type Parameters

Parameters

Returns ( ( ...args: ArgumentMap< { message: [T]; unadvertise: undefined; unsubscribe: undefined; warning: [string]; }, >[Extract<T, "message" | "warning" | "unadvertise" | "unsubscribe">], ) => void)[]

off

Type Parameters

Parameters

Returns this

on

Type Parameters

Parameters

Returns this

once

Type Parameters

Parameters

Returns this

publish

Parameters

Returns void

removeAllListeners

Parameters

Returns this

removeListener

`Optional`compression?: string

`Optional`latch?: boolean

`Optional`queue_length?: number

`Optional`queue_size?: number

`Optional`reconnect_on_close?: boolean

`Optional`throttle_rate?: number

`Optional`advertiseId

`Static`prefixed

Returns (
(
...args: ArgumentMap<
{
message: [T];
unadvertise: undefined;
unsubscribe: undefined;
warning: [string];
},
>[Extract<T, "message" | "warning" | "unadvertise" | "unsubscribe">],
) => void
)[]