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How to keep a class "alive" (...and passing the same NodeHandle) ?

asked 2014-12-06 08:43:21 -0500

Andromeda gravatar image

updated 2014-12-06 08:43:47 -0500

Hi, here the minimal example I could create to explain a problem with my program which is splitted into 2 classes. One class creates an istance of the second one:

Let's start with the main file:

#include <ros/ros.h>
#include "include/foo.h"
#include "include/bar.h"
int main ( int argc, char **argv ) {
   ros::init( argc, argv, "main_node" );
   ros::NodeHandle nh;
   ros::NodeHandle nh_private( "~" );

    boost::scoped_ptr<Foo> trajectory( new Foo( nh, nh_private ) );
    ROS_INFO( "Waiting some seconds..." ); // Just for fun
    ros::Duration(3.0).sleep();

    return 0;
}

The class Foo has a constructor which initialize the class and later, thtough an internal function, create an istance of the second class.

class Foo {
    private:
     /* private variables here */

    private:
    void initParam();
    /* of course here there are much more functions already implemented.... */

}

in initParam() I have the following creation of the last class:

void initParam()  // A method defined in Foo
{
 /* code code code...*/
  boost::scoped_ptr<Bar> way( new Bar( nh_ ) ); // <- !!!! Here is the same NodeHdandle of the master class pased by VALUE
  way->amIAlive(); // <- Yes it is....the call is working
  ROS_INFO( "Getting a random value: %6.4f", way->generateValues() ) // <-working perfectly here too
  /*...*/
}

and lately the class Bar in which I have defined a timer to publish some data regularly:

class Bar {
   Bar::Bar( ros::NodeHandle nh ): nh_(nh) {

    marker_pub_ = nh_.advertise<visualization_msgs::MarkerArray>( "visualization_marker_array", 10 ); // To publish data on RViz

  ros::Timer timeloop_ = nh_.createTimer( ros::Duration( set_duration_time_ ), &Bar::publishPoints, this ); // Nothing...here doesn't publish anything... Why!?!?

void Bar::publishPoints( const ros::TimerEvent& event ) const {
    /* publish the markers */
    marker_pub_.publish( marker_array_ );
}
}

So guys...the problem. The problem is the second class (Bar) gets the node passed by value but doesn't publish anything. Doing:

$ rostopic echo /visualization_marker_array

stucks all the time. Other functions implemented in the class are working correctly and I get the calculation for the points in the right way. What could be the reason?

I put some comments in the constrctors and destructors of both classes to see where could be the problem and here is the output:

me@YE-166:~/workspace_ros$ rosrun my_pkg my_prog
[ INFO] [1417875069.502609530]: Constructor of the Foo class has been called
[ INFO] [1417875069.505375417]: Constructor of the Bar class has been called
[ INFO] [1417875069.505837985]: Valid number of requested waypoints
[ INFO] [1417875072.506157010]: Number of points: 7
[ WARN] [1417875072.506273683]: Calling Destructor of the Bar's class...
[ INFO] [1417875072.508900594]: Waiting some seconds...
[ WARN] [1417875075.509383455]: Calling Destructor of the Foo's Class...
me@YE-166:~/workspace_ros$

Seems to working correctly but I suppose (and it is my opinion) that the class Bar doesn't have the time to publish data on the topic. Fpor that reasons I put a waiting function inside of it to give it time. But it doesn't help. The class runs the function Bar::publishPoints() which is time event function and it is suppose to run all the time. But get destroy with the class

2 things I have:

  • I want to be able to publish data ...
(more)
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Comments

1

Is there a spin or spinOnce anywhere in your code?

kramer gravatar imagekramer ( 2014-12-06 10:12:06 -0500 )edit

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answered 2014-12-06 10:48:38 -0500

paulbovbel gravatar image

As @kramer has pointed out, you have no ros::spin() function in your main, meaning that a) no callbacks get processed and b) main returns immediately, destroying Foo.

Even after adding ros::spin(), Bar will still die earlier than you expect, because it will be destroyed when the initParam function returns.

Please read about lifetime, scope, and blocking on stackoverflow.

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Comments

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For clarity: a Timer uses ROS's callback mechanism for its operation; without a spin, the publishPoints method will never be called.

I totally overlooked Bar's scope and destruction...nice catch, @paulbovbel.

kramer gravatar imagekramer ( 2014-12-06 16:39:08 -0500 )edit

Ok, guys. Thanks. a lot. A didn't know, that a timer has the same callback like messages and topics. About the scope of a class I agree with you, but I was sure that the running timer doesn't let the function to return. The visibility is right, but I misunderstood how a timer is currently working.

Andromeda gravatar imageAndromeda ( 2014-12-07 11:55:57 -0500 )edit

createTimer does return immediately. And then the timer object goes out of scope, so it won't be running anymore. Just like with pub/sub, you need the object to be in scope (i.e. be a member of the class and not just temporary on the heap), and you need ros::spin to process callbacks.

paulbovbel gravatar imagepaulbovbel ( 2014-12-07 13:42:52 -0500 )edit

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Asked: 2014-12-06 08:43:21 -0500

Seen: 1,130 times

Last updated: Dec 06 '14