src/ros_subscribe-python-module-py.cc

+#include <dynamic-graph/python/module.hh>
+
+#include "ros_subscribe.hh"
+
+namespace dg = dynamicgraph;
+
+BOOST_PYTHON_MODULE(wrap) {
+  bp::import("dynamic_graph");
+
+  dg::python::exposeEntity<dg::RosSubscribe, bp::bases<dg::Entity>,
+                           dg::python::AddCommands>()
+      .def("clear", &dg::RosSubscribe::clear,
+           "Remove all signals reading data from a ROS topic")
+      .def("rm", &dg::RosSubscribe::rm,
+           "Remove a signal reading data from a ROS topic",
+           bp::args("signal_name"))
+      .def("list", &dg::RosSubscribe::list,
+           "List signals reading data from a ROS topic");
+}

src/ros_subscribe.cpp

-#include <boost/assign.hpp>
-#include <boost/bind.hpp>
-#include <boost/format.hpp>
-#include <boost/function.hpp>
-#include <boost/make_shared.hpp>
+#include "ros_subscribe.hh"
 
+#include <dynamic-graph/factory.h>
 #include <ros/ros.h>
 #include <std_msgs/Float64.h>
 #include <std_msgs/UInt32.h>
 
-#include <dynamic-graph/factory.h>
+#include <boost/assign.hpp>
+#include <boost/bind.hpp>
+#include <boost/format.hpp>
+#include <boost/function.hpp>
+#include <boost/make_shared.hpp>
 
 #include "dynamic_graph_bridge/ros_init.hh"
-#include "ros_subscribe.hh"
 
-namespace dynamicgraph
-{
-  DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(RosSubscribe, "RosSubscribe");
-
-  namespace command
-  {
-    namespace rosSubscribe
-    {
-      Clear::Clear
-      (RosSubscribe& entity, const std::string& docstring)
-	: Command
-	  (entity,
-	   std::vector<Value::Type> (),
-	   docstring)
-      {}
-
-      Value Clear::doExecute ()
-      {
-	RosSubscribe& entity =
-	  static_cast<RosSubscribe&> (owner ());
-
-	entity.clear ();
-	return Value ();
-      }
-
-      List::List
-      (RosSubscribe& entity, const std::string& docstring)
-	: Command
-	  (entity,
-	   std::vector<Value::Type> (),
-	   docstring)
-      {}
-
-      Value List::doExecute ()
-      {
-	RosSubscribe& entity =
-	  static_cast<RosSubscribe&> (owner ());
-	return Value (entity.list ());
-      }
-
-      Add::Add
-      (RosSubscribe& entity, const std::string& docstring)
-	: Command
-	  (entity,
-	   boost::assign::list_of
-	   (Value::STRING) (Value::STRING) (Value::STRING),
-	   docstring)
-      {}
-
-      Value Add::doExecute ()
-      {
-	RosSubscribe& entity =
-	  static_cast<RosSubscribe&> (owner ());
-	std::vector<Value> values = getParameterValues ();
-
-	const std::string& type = values[0].value ();
-	const std::string& signal = values[1].value ();
-	const std::string& topic = values[2].value ();
-
-	if (type == "double")
-	  entity.add<double> (signal, topic);
-	else if (type == "unsigned")
-	  entity.add<unsigned int> (signal, topic);
-	else if (type == "matrix")
-	  entity.add<dg::Matrix> (signal, topic);
-	else if (type == "vector")
-	  entity.add<dg::Vector> (signal, topic);
-	else if (type == "vector3")
-	  entity.add<specific::Vector3> (signal, topic);
-	else if (type == "vector3Stamped")
-	  entity.add<std::pair<specific::Vector3, dg::Vector> > (signal, topic);
-	else if (type == "matrixHomo")
-	  entity.add<sot::MatrixHomogeneous> (signal, topic);
-	else if (type == "matrixHomoStamped")
-	  entity.add<std::pair<sot::MatrixHomogeneous, dg::Vector> >
-	    (signal, topic);
-	else if (type == "twist")
-	  entity.add<specific::Twist> (signal, topic);
-	else if (type == "twistStamped")
-	  entity.add<std::pair<specific::Twist, dg::Vector> >
-	    (signal, topic);
-	else
-	  throw std::runtime_error("bad type");
-	return Value ();
-      }
-
-      Rm::Rm
-      (RosSubscribe& entity, const std::string& docstring)
-	: Command
-	  (entity,
-	   boost::assign::list_of (Value::STRING),
-	   docstring)
-      {}
-
-      Value Rm::doExecute ()
-      {
-	RosSubscribe& entity =
-	  static_cast<RosSubscribe&> (owner ());
-	std::vector<Value> values = getParameterValues ();
-	const std::string& signal = values[0].value ();
-	entity.rm (signal);
-	return Value ();
-      }
-    } // end of errorEstimator.
-  } // end of namespace command.
-
-  const std::string RosSubscribe::docstring_
-  ("Subscribe to a ROS topics and convert it into a dynamic-graph signals.\n"
-   "\n"
-   "  Use command \"add\" to subscribe to a new signal.\n");
-
-  RosSubscribe::RosSubscribe (const std::string& n)
-    : dynamicgraph::Entity(n),
-      nh_ (rosInit (true)),
-      bindedSignal_ ()
-  {
-    std::string docstring =
+namespace dynamicgraph {
+DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(RosSubscribe, "RosSubscribe");
+
+namespace command {
+namespace rosSubscribe {
+Add::Add(RosSubscribe& entity, const std::string& docstring)
+    : Command(
+          entity,
+          boost::assign::list_of(Value::STRING)(Value::STRING)(Value::STRING),
+          docstring) {}
+
+Value Add::doExecute() {
+  RosSubscribe& entity = static_cast<RosSubscribe&>(owner());
+  std::vector<Value> values = getParameterValues();
+
+  const std::string& type = values[0].value();
+  const std::string& signal = values[1].value();
+  const std::string& topic = values[2].value();
+
+  if (type == "double")
+    entity.add<double>(signal, topic);
+  else if (type == "unsigned")
+    entity.add<unsigned int>(signal, topic);
+  else if (type == "matrix")
+    entity.add<dg::Matrix>(signal, topic);
+  else if (type == "vector")
+    entity.add<dg::Vector>(signal, topic);
+  else if (type == "vector3")
+    entity.add<specific::Vector3>(signal, topic);
+  else if (type == "vector3Stamped")
+    entity.add<std::pair<specific::Vector3, dg::Vector> >(signal, topic);
+  else if (type == "matrixHomo")
+    entity.add<sot::MatrixHomogeneous>(signal, topic);
+  else if (type == "matrixHomoStamped")
+    entity.add<std::pair<sot::MatrixHomogeneous, dg::Vector> >(signal, topic);
+  else if (type == "twist")
+    entity.add<specific::Twist>(signal, topic);
+  else if (type == "twistStamped")
+    entity.add<std::pair<specific::Twist, dg::Vector> >(signal, topic);
+  else if (type == "string")
+    entity.add<std::string>(signal, topic);
+  else
+    throw std::runtime_error("bad type");
+  return Value();
+}
+}  // namespace rosSubscribe
+}  // end of namespace command.
+
+const std::string RosSubscribe::docstring_(
+    "Subscribe to a ROS topics and convert it into a dynamic-graph signals.\n"
+    "\n"
+    "  Use command \"add\" to subscribe to a new signal.\n");
+
+RosSubscribe::RosSubscribe(const std::string& n)
+    : dynamicgraph::Entity(n), nh_(rosInit(true)), bindedSignal_() {
+  std::string docstring =
       "\n"
       "  Add a signal reading data from a ROS topic\n"
       "\n"
       "  Input:\n"
       "    - type: string among ['double', 'matrix', 'vector', 'vector3',\n"
-      "                          'vector3Stamped', 'matrixHomo', 'matrixHomoStamped',\n"
+      "                          'vector3Stamped', 'matrixHomo', "
+      "'matrixHomoStamped',\n"
       "                          'twist', 'twistStamped'],\n"
       "    - signal: the signal name in dynamic-graph,\n"
       "    - topic:  the topic name in ROS.\n"
       "\n";
-    addCommand ("add",
-		new command::rosSubscribe::Add
-		(*this, docstring));
-    docstring =
-      "\n"
-      "  Remove a signal reading data from a ROS topic\n"
-      "\n"
-      "  Input:\n"
-      "    - name of the signal to remove (see method list for the list of signals).\n"
-      "\n";
-    addCommand ("rm",
-		new command::rosSubscribe::Rm
-		(*this, docstring));
-    docstring =
-      "\n"
-      "  Remove all signals reading data from a ROS topic\n"
-      "\n"
-      "  No input:\n"
-      "\n";
-    addCommand ("clear",
-		new command::rosSubscribe::Clear
-		(*this, docstring));
-    docstring =
-      "\n"
-      "  List signals reading data from a ROS topic\n"
-      "\n"
-      "  No input:\n"
-      "\n";
-    addCommand ("list",
-		new command::rosSubscribe::List
-		(*this, docstring));
-  }
+  addCommand("add", new command::rosSubscribe::Add(*this, docstring));
+}
 
-  RosSubscribe::~RosSubscribe ()
-  {}
+RosSubscribe::~RosSubscribe() {}
 
-  void RosSubscribe::display (std::ostream& os) const
-  {
-    os << CLASS_NAME << std::endl;
-  }
+void RosSubscribe::display(std::ostream& os) const {
+  os << CLASS_NAME << std::endl;
+}
 
-  void RosSubscribe::rm (const std::string& signal)
-  {
-    std::string signalTs = signal+"Timestamp";
+void RosSubscribe::rm(const std::string& signal) {
+  std::string signalTs = signal + "Timestamp";
 
-    signalDeregistration(signal);
-    bindedSignal_.erase (signal);
+  signalDeregistration(signal);
+  bindedSignal_.erase(signal);
 
-    if(bindedSignal_.find(signalTs) != bindedSignal_.end())
-    {
-       signalDeregistration(signalTs);
-       bindedSignal_.erase(signalTs);
-    }
+  if (bindedSignal_.find(signalTs) != bindedSignal_.end()) {
+    signalDeregistration(signalTs);
+    bindedSignal_.erase(signalTs);
   }
-
-  std::string RosSubscribe::list ()
-  {
-    std::string result("[");
-    for (std::map<std::string, bindedSignal_t>::const_iterator it =
-	   bindedSignal_.begin (); it != bindedSignal_.end (); it++) {
-      result += "'" + it->first + "',";
-    }
-    result += "]";
-    return result;
+}
+
+std::vector<std::string> RosSubscribe::list() {
+  std::vector<std::string> result(bindedSignal_.size());
+  std::transform(bindedSignal_.begin(), bindedSignal_.end(), result.begin(),
+                 [](const auto& pair) { return pair.first; });
+  return result;
+}
+
+void RosSubscribe::clear() {
+  std::map<std::string, bindedSignal_t>::iterator it = bindedSignal_.begin();
+  for (; it != bindedSignal_.end();) {
+    rm(it->first);
+    it = bindedSignal_.begin();
   }
+}
 
-  void RosSubscribe::clear ()
-  {
-    std::map<std::string, bindedSignal_t>::iterator it = bindedSignal_.begin();
-    for(; it!= bindedSignal_.end(); )
-    {
-      rm(it->first);
-      it = bindedSignal_.begin();
-    }
-  }
-
-  std::string RosSubscribe::getDocString () const
-  {
-    return docstring_;
-  }
-} // end of namespace dynamicgraph.
+std::string RosSubscribe::getDocString() const { return docstring_; }
+}  // end of namespace dynamicgraph.

src/ros_subscribe.hh

 #ifndef DYNAMIC_GRAPH_ROS_SUBSCRIBE_HH
-# define DYNAMIC_GRAPH_ROS_SUBSCRIBE_HH
-# include <map>
-
-# include <boost/shared_ptr.hpp>
-
-# include <dynamic-graph/entity.h>
-# include <dynamic-graph/signal-time-dependent.h>
-# include <dynamic-graph/signal-ptr.h>
-# include <dynamic-graph/command.h>
-# include <sot/core/matrix-geometry.hh>
-
-# include <ros/ros.h>
-
-# include "converter.hh"
-# include "sot_to_ros.hh"
-
-namespace dynamicgraph
-{
-  class RosSubscribe;
-
-  namespace command
-  {
-    namespace rosSubscribe
-    {
-      using ::dynamicgraph::command::Command;
-      using ::dynamicgraph::command::Value;
-
-# define ROS_SUBSCRIBE_MAKE_COMMAND(CMD)			\
-      class CMD : public Command			\
-      {							\
-      public:						\
-	CMD (RosSubscribe& entity,				\
-	     const std::string& docstring);		\
-	virtual Value doExecute ();			\
-      }
-
-      ROS_SUBSCRIBE_MAKE_COMMAND(Add);
-      ROS_SUBSCRIBE_MAKE_COMMAND(Clear);
-      ROS_SUBSCRIBE_MAKE_COMMAND(List);
-      ROS_SUBSCRIBE_MAKE_COMMAND(Rm);
+#define DYNAMIC_GRAPH_ROS_SUBSCRIBE_HH
+#include <dynamic-graph/command.h>
+#include <dynamic-graph/entity.h>
+#include <dynamic-graph/signal-ptr.h>
+#include <dynamic-graph/signal-time-dependent.h>
+#include <ros/ros.h>
+
+#include <boost/shared_ptr.hpp>
+#include <map>
+#include <sot/core/matrix-geometry.hh>
+
+#include "converter.hh"
+#include "sot_to_ros.hh"
+
+namespace dynamicgraph {
+class RosSubscribe;
+
+namespace command {
+namespace rosSubscribe {
+using ::dynamicgraph::command::Command;
+using ::dynamicgraph::command::Value;
+
+#define ROS_SUBSCRIBE_MAKE_COMMAND(CMD)                      \
+  class CMD : public Command {                               \
+   public:                                                   \
+    CMD(RosSubscribe& entity, const std::string& docstring); \
+    virtual Value doExecute();                               \
+  }
+
+ROS_SUBSCRIBE_MAKE_COMMAND(Add);
 
 #undef ROS_SUBSCRIBE_MAKE_COMMAND
 
-    } // end of namespace errorEstimator.
-  } // end of namespace command.
+}  // namespace rosSubscribe
+}  // end of namespace command.
 
+namespace internal {
+template <typename T>
+struct Add;
+}  // namespace internal
 
-  namespace internal
-  {
-    template <typename T>
-    struct Add;
-  } // end of internal namespace.
+/// \brief Publish ROS information in the dynamic-graph.
+class RosSubscribe : public dynamicgraph::Entity {
+  DYNAMIC_GRAPH_ENTITY_DECL();
+  typedef boost::posix_time::ptime ptime;
 
-  /// \brief Publish ROS information in the dynamic-graph.
-  class RosSubscribe : public dynamicgraph::Entity
-  {
-    DYNAMIC_GRAPH_ENTITY_DECL();
-    typedef boost::posix_time::ptime ptime;
-  public:
-    typedef std::pair<boost::shared_ptr<dynamicgraph::SignalBase<int> >,
-		      boost::shared_ptr<ros::Subscriber> >
+ public:
+  typedef std::pair<boost::shared_ptr<dynamicgraph::SignalBase<int> >,
+                    boost::shared_ptr<ros::Subscriber> >
       bindedSignal_t;
 
-    RosSubscribe (const std::string& n);
-    virtual ~RosSubscribe ();
-
-    virtual std::string getDocString () const;
-    void display (std::ostream& os) const;
-
-    void add (const std::string& signal, const std::string& topic);
-    void rm (const std::string& signal);
-    std::string list ();
-    void clear ();
-
-    template <typename T>
-    void add (const std::string& signal, const std::string& topic);
-
-    std::map<std::string, bindedSignal_t>&
-    bindedSignal ()
-    {
-      return bindedSignal_;
-    }
-
-    ros::NodeHandle& nh ()
-    {
-      return nh_;
-    }
-
-    template <typename R, typename S>
-    void callback
-    (boost::shared_ptr<dynamicgraph::SignalPtr<S, int> > signal,
-     const R& data);
-
-    template <typename R>
-    void callbackTimestamp
-    (boost::shared_ptr<dynamicgraph::SignalPtr<ptime, int> > signal,
-     const R& data);
-
-    template <typename T>
-    friend class internal::Add;
-  private:
-    static const std::string docstring_;
-    ros::NodeHandle& nh_;
-    std::map<std::string, bindedSignal_t> bindedSignal_;
-  };
-} // end of namespace dynamicgraph.
-
-# include "ros_subscribe.hxx"
-#endif //! DYNAMIC_GRAPH_ROS_SUBSCRIBE_HH
+  RosSubscribe(const std::string& n);
+  virtual ~RosSubscribe();
+
+  virtual std::string getDocString() const;
+  void display(std::ostream& os) const;
+
+  void add(const std::string& signal, const std::string& topic);
+  void rm(const std::string& signal);
+  std::vector<std::string> list();
+  void clear();
+
+  template <typename T>
+  void add(const std::string& signal, const std::string& topic);
+
+  std::map<std::string, bindedSignal_t>& bindedSignal() {
+    return bindedSignal_;
+  }
+
+  ros::NodeHandle& nh() { return nh_; }
+
+  template <typename R, typename S>
+  void callback(boost::shared_ptr<dynamicgraph::SignalPtr<S, int> > signal,
+                const R& data);
+
+  template <typename R>
+  void callbackTimestamp(
+      boost::shared_ptr<dynamicgraph::SignalPtr<ptime, int> > signal,
+      const R& data);
+
+  template <typename T>
+  friend class internal::Add;
+
+ private:
+  static const std::string docstring_;
+  ros::NodeHandle& nh_;
+  std::map<std::string, bindedSignal_t> bindedSignal_;
+};
+}  // end of namespace dynamicgraph.
+
+#include "ros_subscribe.hxx"
+#endif  //! DYNAMIC_GRAPH_ROS_SUBSCRIBE_HH

src/ros_tf_listener-python-module-py.cc

+#include <dynamic-graph/python/module.hh>
+
+#include "ros_tf_listener.hh"
+
+namespace dg = dynamicgraph;
+
+BOOST_PYTHON_MODULE(wrap) {
+  bp::import("dynamic_graph");
+
+  dg::python::exposeEntity<dg::RosTfListener, bp::bases<dg::Entity>,
+                           dg::python::AddCommands>()
+      .def("add", &dg::RosTfListener::add,
+           "Add a signal containing the transform between two frames.",
+           bp::args("to_frame_name", "from_frame_name", "out_signal_name"))
+      .def("setMaximumDelay", &dg::RosTfListener::setMaximumDelay,
+           "Set the maximum time delay of the transform obtained from tf.",
+           bp::args("signal_name", "delay_seconds"));
+}

src/ros_time-python.hh

+#include "ros_time.hh"
+
+typedef boost::mpl::vector<dynamicgraph::RosTime> entities_t;

src/sot_to_ros.cpp

 #include "sot_to_ros.hh"
 
-namespace dynamicgraph
-{
+namespace dynamicgraph {
 
-  const char* SotToRos<double>::signalTypeName = "Double";
-  const char* SotToRos<unsigned int>::signalTypeName = "Unsigned";
-  const char* SotToRos<Matrix>::signalTypeName = "Matrix";
-  const char* SotToRos<Vector>::signalTypeName = "Vector";
-  const char* SotToRos<specific::Vector3>::signalTypeName = "Vector3";
-  const char* SotToRos<sot::MatrixHomogeneous>::signalTypeName = "MatrixHomo";
-  const char* SotToRos<specific::Twist>::signalTypeName = "Twist";
-  const char* SotToRos
-  <std::pair<specific::Vector3, Vector> >::signalTypeName
-  = "Vector3Stamped";
-  const char* SotToRos
-  <std::pair<sot::MatrixHomogeneous, Vector> >::signalTypeName
-  = "MatrixHomo";
-  const char* SotToRos
-  <std::pair<specific::Twist, Vector> >::signalTypeName
-  = "Twist";
+const char* SotToRos<bool>::signalTypeName = "bool";
+const char* SotToRos<double>::signalTypeName = "Double";
+const char* SotToRos<int>::signalTypeName = "int";
+const char* SotToRos<std::string>::signalTypeName = "string";
+const char* SotToRos<unsigned int>::signalTypeName = "Unsigned";
+const char* SotToRos<Matrix>::signalTypeName = "Matrix";
+const char* SotToRos<Vector>::signalTypeName = "Vector";
+const char* SotToRos<specific::Vector3>::signalTypeName = "Vector3";
+const char* SotToRos<sot::MatrixHomogeneous>::signalTypeName = "MatrixHomo";
+const char* SotToRos<specific::Twist>::signalTypeName = "Twist";
+const char* SotToRos<std::pair<specific::Vector3, Vector> >::signalTypeName =
+    "Vector3Stamped";
+const char*
+    SotToRos<std::pair<sot::MatrixHomogeneous, Vector> >::signalTypeName =
+        "MatrixHomo";
+const char* SotToRos<std::pair<specific::Twist, Vector> >::signalTypeName =
+    "Twist";
 
-} // end of namespace dynamicgraph.
+}  // end of namespace dynamicgraph.

srv/RunPythonFile.srv

-string input
----
-string result

travis_custom/sudoers.txt

-root ALL=(ALL) ALL
-docker ALL=(ALL) NOPASSWD: ALL
-Defaults    env_reset
-Defaults    secure_path="/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin"