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Callback implementation

asked 2012-04-05 10:32:25 -0600

alfa_80 gravatar image

updated 2012-04-05 10:38:20 -0600

I would like to know a low-level implementation on how callback is implemented in ROS. Does it use function pointers, function objects or commands and Hollywood or any others. Could somebody point me to any of its implementations.

Thanks in advance.

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answered 2012-04-05 22:02:57 -0600

Lorenz gravatar image

Function callbacks are based on C++ functor objects. roscpp normally uses something that's compatible with the return value of boost::bind, e.g. boost::function. There are a bunch of overloaded versions of subscribe that take normal function pointers though. Internally, these methods just use boost::bind to generate the functor object. Have a look at roscpp/include/ros/node_handle.h.

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Thanks for the information and clarification.

alfa_80 gravatar image alfa_80  ( 2012-04-05 23:31:38 -0600 )edit

answered 2012-04-05 12:45:42 -0600

joq gravatar image

There are many different callbacks.

I believe most are implemented with boost::bind().

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Thanks a lot for the information.

alfa_80 gravatar image alfa_80  ( 2012-04-05 21:09:34 -0600 )edit

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Asked: 2012-04-05 10:32:25 -0600

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Last updated: Apr 05 '12