ros::init(argc,argv,"amcl");
init.h分析:
#ifndef ROSCPP_INIT_H
#define ROSCPP_INIT_H
#include "ros/forwards.h"
#include "ros/spinner.h"
#include "common.h"
namespace ros
{
namespace init_options
{
/**
* \brief Flags for ROS initialization
*/
enum InitOption
{
/**
* Don't install a SIGINT handler. You should install your own SIGINT handler in this
* case, to ensure that the node gets shutdown correctly when it exits.
*/
NoSigintHandler = 1 << 0,//以1二进制左移0位
/** \brief Anonymize the node name. Adds a random number to the end of your node's name, to make it unique.
*/
AnonymousName = 1 << 1,
/**
* \brief Don't broadcast rosconsole output to the /rosout topic
*/
NoRosout = 1 << 2,
};
}
typedef init_options::InitOption InitOption;
/** @brief ROS initialization function.
*
* This function will parse any ROS arguments (e.g., topic name
* remappings), and will consume them (i.e., argc and argv may be modified
* as a result of this call).
*
* Use this version if you are using the NodeHandle API
*
* \param argc
* \param argv
* \param name Name of this node. The name must be a base name, ie. it cannot contain namespaces.
* \param options [optional] Options to start the node with (a set of bit flags from \ref ros::init_options)
* \throws InvalidNodeNameException If the name passed in is not a valid "base" name
*
*/
ROSCPP_DECL void init(int &argc, char **argv, const std::string& name, uint32_t options = 0);
/**
* \brief alternate ROS initialization function.
*
* \param remappings A map<string, string> where each one constitutes a name remapping, or one of the special remappings like __name, __master, __ns, etc.
* \param name Name of this node. The name must be a base name, ie. it cannot contain namespaces.
* \param options [optional] Options to start the node with (a set of bit flags from \ref ros::init_options)
* \throws InvalidNodeNameException If the name passed in is not a valid "base" name
*/
ROSCPP_DECL void init(const M_string& remappings, const std::string& name, uint32_t options = 0);
/**
* \brief alternate ROS initialization function.
*
* \param remappings A vector<pair<string, string> > where each one constitutes a name remapping, or one of the special remappings like __name, __master, __ns, etc.
* \param name Name of this node. The name must be a base name, ie. it cannot contain namespaces.
* \param options [optional] Options to start the node with (a set of bit flags from \ref ros::init_options)
* \throws InvalidNodeNameException If the name passed in is not a valid "base" name
*/
ROSCPP_DECL void init(const VP_string& remapping_args, const std::string& name, uint32_t options = 0);
/**
* \brief Returns whether or not ros::init() has been called
*/
ROSCPP_DECL bool isInitialized();
/**
* \brief Returns whether or not ros::shutdown() has been (or is being) called
*/
ROSCPP_DECL bool isShuttingDown();
/** \brief Enter simple event loop
*
* This method enters a loop, processing callbacks. This method should only be used
* if the NodeHandle API is being used.
*
* This method is mostly useful when your node does all of its work in
* subscription callbacks. It will not process any callbacks that have been assigned to
* custom queues.
*
*/
ROSCPP_DECL void spin();
/** \brief Enter simple event loop
*
* This method enters a loop, processing callbacks. This method should only be used
* if the NodeHandle API is being used.
*
* This method is mostly useful when your node does all of its work in
* subscription callbacks. It will not process any callbacks that have been assigned to
* custom queues.
*
* \param spinner a spinner to use to call callbacks. Two default implementations are available,
* SingleThreadedSpinner and MultiThreadedSpinner
*/
ROSCPP_DECL void spin(Spinner& spinner);
/**
* \brief Process a single round of callbacks.
*
* This method is useful if you have your own loop running and would like to process
* any callbacks that are available. This is equivalent to calling callAvailable() on the
* global CallbackQueue. It will not process any callbacks that have been assigned to
* custom queues.
*/
ROSCPP_DECL void spinOnce();
/**
* \brief Wait for this node to be shutdown, whether through Ctrl-C, ros::shutdown(), or similar.
*/
ROSCPP_DECL void waitForShutdown();
/** \brief Check whether it's time to exit.
*
* ok() becomes false once ros::shutdown() has been called and is finished
*
* \return true if we're still OK, false if it's time to exit
*/
ROSCPP_DECL bool ok();
/**
* \brief Disconnects everything and unregisters from the master. It is generally not
* necessary to call this function, as the node will automatically shutdown when all
* NodeHandles destruct. However, if you want to break out of a spin() loop explicitly,
* this function allows that.
*/
ROSCPP_DECL void shutdown();
/**
* \brief Request that the node shut itself down from within a ROS thread
*
* This method signals a ROS thread to call shutdown().
*/
ROSCPP_DECL void requestShutdown();
/**
* \brief Actually starts the internals of the node (spins up threads, starts the network polling and xmlrpc loops,
* connects to internal subscriptions like /clock, starts internal service servers, etc.).
*
* Usually unnecessary to call manually, as it is automatically called by the creation of the first NodeHandle if
* the node has not already been started. If you would like to prevent the automatic shutdown caused by the last
* NodeHandle going out of scope, call this before any NodeHandle has been created (e.g. immediately after init())
*/
ROSCPP_DECL void start();
/**
* \brief Returns whether or not