Class Node
Defined in File node.hpp
Inheritance Relationships
Base Type
public AS2_NODE_FATHER_TYPE
Derived Types
public as2::AerialPlatform(Class AerialPlatform)public as2::BasicBehavior< class >
Class Documentation
-
class Node : public AS2_NODE_FATHER_TYPE
Basic Aerostack2 Node, it heritages all the functionality of an rclcpp::Node.
Subclassed by as2::AerialPlatform, as2::BasicBehavior< class >
Public Functions
-
inline Node(const std::string &name, const std::string &ns, const rclcpp::NodeOptions &options = rclcpp::NodeOptions())
Construct a new Node object.
- Parameters:
name – Node name
-
inline explicit Node(const std::string &name, const rclcpp::NodeOptions &options = rclcpp::NodeOptions())
-
inline void configure()
-
inline void activate()
-
inline void deactivate()
-
inline void cleanup()
-
inline void shutdown()
-
inline void error()
-
std::string generate_local_name(const std::string &name)
transform an string into local topic name inside drone namespace and node namespace
- Parameters:
name – source string
- Returns:
std::string result name
-
std::string generate_global_name(const std::string &name)
transform an string into global topic name inside drone namespace
- Parameters:
name – source string
- Returns:
std::string result name
create a timer with the node clock
- Returns:
rclcpp::TimerBase::SharedPtr rclcpp timer using node clock
-
inline bool sleep()
sleeps the node to ensure node_frecuency desired
- Returns:
true the node is sleeping
- Returns:
false the node is not sleeping, this means that desired frequency is not reached
-
inline double get_loop_frequency()
Get the loop frequency object.
- Returns:
double frequency in Hz
-
inline bool preset_loop_frequency(double frequency)
Protected Types
-
using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
Callback for the activate state.
- Param state:
- Return:
CallbackReturn
Protected Functions
-
inline virtual CallbackReturn on_activate(const rclcpp_lifecycle::State& = rclcpp_lifecycle::State())
-
inline virtual CallbackReturn on_deactivate(const rclcpp_lifecycle::State& = rclcpp_lifecycle::State())
Callback for the deactivate state.
- Parameters:
state –
- Returns:
CallbackReturn
-
inline virtual CallbackReturn on_configure(const rclcpp_lifecycle::State& = rclcpp_lifecycle::State())
Callback for the configure state.
- Parameters:
state –
- Returns:
CallbackReturn
-
inline virtual CallbackReturn on_cleanup(const rclcpp_lifecycle::State& = rclcpp_lifecycle::State())
Callback for the cleanup state.
- Parameters:
state –
- Returns:
CallbackReturn
-
inline virtual CallbackReturn on_shutdown(const rclcpp_lifecycle::State& = rclcpp_lifecycle::State())
Callback for the shutdown state.
- Parameters:
state –
- Returns:
CallbackReturn
-
inline virtual CallbackReturn on_error(const rclcpp_lifecycle::State& = rclcpp_lifecycle::State())
Callback for the error state.
- Parameters:
state –
- Returns:
CallbackReturn
-
inline Node(const std::string &name, const std::string &ns, const rclcpp::NodeOptions &options = rclcpp::NodeOptions())