Class ROS2BaseNode

Defined in File ros2_base_node.hpp

Inheritance Relationships

Base Type

public rclcpp::Node

Class Documentation

class ROS2BaseNode : public rclcpp::Node

Public Functions

explicit ROS2BaseNode(const std::string &node_name, const rclcpp::NodeOptions &options = rclcpp::NodeOptions())

const ParameterHandler &getParameterHandler() const

template<typename T> inline void registerParameter(const std::string &name, const T &value, std::function<bool(const T&)> on_change_callback)

template<typename T> inline void registerStaticParameter(const std::string &name, const T &value, std::function<bool(const T&)> on_change_callback)

Protected Functions

rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr ParamCallback() const