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< MessageT > (Template Class BasicBehavior)

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< MessageT >

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

template<typename DurationRepT, typename DurationT, typename CallbackT> inline rclcpp::TimerBase::SharedPtr create_timer(std::chrono::duration<DurationRepT, DurationT> period, CallbackT callback, rclcpp::CallbackGroup::SharedPtr group = nullptr)

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