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Chapter 4. Implementation 57

Switch receiver/sender: These services provide similar functionality as the "switch re-

ceiver/sender"-services from the device manager, but are able to resolve namespaces. You

can either switch the device by sending only its name, such as "device1", or its full name

with namespace, such as "scene1/device1".

Get device: This service provides similar functionality as the "get device"-service from the device

manager, but is able to resolve namespaces.

And the topics:

Device changed ns: this publisher will publish a message each time a transmitter has been seen.

The message contains the name with namespace of the transmitter, a list of names with

namespaces of receiver that changed and the new state, they changed to.

Scene changed: this topic will trigger when a scene changes and outputs whether a scene was

added, deleted or a member within a scene was added or deleted.

Besides the three major classes that have already been mentioned, there are the rosnode and the

device manager class (see section 4.4.1 on page 53). The device manager class is the same as

was used in the device manager node. It was added to optimize the overall performance of the

node and reduce the required bandwidth to the device manager, because the visualization menu

needs a high number of database accesses for rendering. The database is synchronized during the

start-up of the node and constantly updated, due to the "database changed"-subscriber. As with

the other nodes, the rosnode class is a separate thread that acts as a converter between ROS

messages and the internal message format and provides signals/slots for connecting.

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