reference_manager

This repository is a ROS package to handle references between multiple nodes

Installation

To install this, put it in your catkin workspace:

$ cd ~/catkin_ws/src/

$ git clone https://github.com/sarthou/reference_manager.git

$ cd ..

$ catkin_make

Run the node

You have two ways to run this node :

You can run it with the default service name reference

rosrun reference_manager referencer

But you can also choose the service name with :

rosrun reference_manager referencer my_referencer

Renaming the service can be useful if you need multiple references manager at the same time

Usage

In the examples below, we assume that the service has been renamed my_referencer

• Add a new reference

rosservice call /my_referencer "{param: 'an_identifier:its_reference', action: 'reference'}"

Note that the identifier and its corresponding reference are separated by :

• Test if an identifier is referenced

rosservice call /my_referencer "{param: 'its_reference', action: 'is_referenced'}"

• Get the identifier from its reference

rosservice call /my_referencer "{param: 'its_reference', action: 'get_id'}"

• Get the reference from an identifier

rosservice call /my_referencer "{param: 'an_identifier', action: 'get_ref'}"

• List all references and their corresponding identifier

rosservice call /my_referencer "{param: '', action: 'list'}"

• Remove a reference

rosservice call /my_referencer "{param: 'its_reference', action: 'unreference'}"

Error codes

This service returns an error code explaining what happened. All codes are as follows:

Error name	Error code
NO_ERROR	0
UNKNOW_ACTION	2
UNREFERENCED_ID	3
REF_ALREADY_USED	4
UNKNOW_REF	6
OTHER	8