.. _program_listing_file_include_rclcpp_node.hpp:

Program Listing for File node.hpp
=================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rclcpp_node.hpp>` (``include/rclcpp/node.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2014 Open Source Robotics Foundation, Inc.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef RCLCPP__NODE_HPP_
   #define RCLCPP__NODE_HPP_
   
   #include <atomic>
   #include <condition_variable>
   #include <functional>
   #include <list>
   #include <map>
   #include <memory>
   #include <mutex>
   #include <string>
   #include <tuple>
   #include <utility>
   #include <vector>
   
   #include "rcutils/macros.h"
   
   #include "rcl/error_handling.h"
   #include "rcl/node.h"
   
   #include "rcl_interfaces/msg/list_parameters_result.hpp"
   #include "rcl_interfaces/msg/parameter_descriptor.hpp"
   #include "rcl_interfaces/msg/parameter_event.hpp"
   #include "rcl_interfaces/msg/set_parameters_result.hpp"
   
   #include "rclcpp/callback_group.hpp"
   #include "rclcpp/client.hpp"
   #include "rclcpp/clock.hpp"
   #include "rclcpp/context.hpp"
   #include "rclcpp/event.hpp"
   #include "rclcpp/generic_publisher.hpp"
   #include "rclcpp/generic_subscription.hpp"
   #include "rclcpp/logger.hpp"
   #include "rclcpp/macros.hpp"
   #include "rclcpp/message_memory_strategy.hpp"
   #include "rclcpp/node_interfaces/node_base_interface.hpp"
   #include "rclcpp/node_interfaces/node_clock_interface.hpp"
   #include "rclcpp/node_interfaces/node_graph_interface.hpp"
   #include "rclcpp/node_interfaces/node_logging_interface.hpp"
   #include "rclcpp/node_interfaces/node_parameters_interface.hpp"
   #include "rclcpp/node_interfaces/node_services_interface.hpp"
   #include "rclcpp/node_interfaces/node_time_source_interface.hpp"
   #include "rclcpp/node_interfaces/node_timers_interface.hpp"
   #include "rclcpp/node_interfaces/node_topics_interface.hpp"
   #include "rclcpp/node_interfaces/node_waitables_interface.hpp"
   #include "rclcpp/node_options.hpp"
   #include "rclcpp/parameter.hpp"
   #include "rclcpp/publisher.hpp"
   #include "rclcpp/publisher_options.hpp"
   #include "rclcpp/qos.hpp"
   #include "rclcpp/service.hpp"
   #include "rclcpp/subscription.hpp"
   #include "rclcpp/subscription_options.hpp"
   #include "rclcpp/subscription_traits.hpp"
   #include "rclcpp/time.hpp"
   #include "rclcpp/timer.hpp"
   #include "rclcpp/visibility_control.hpp"
   
   namespace rclcpp
   {
   
   class Node : public std::enable_shared_from_this<Node>
   {
   public:
     RCLCPP_SMART_PTR_DEFINITIONS(Node)
   
     
     RCLCPP_PUBLIC
     explicit Node(
       const std::string & node_name,
       const NodeOptions & options = NodeOptions());
   
   
     RCLCPP_PUBLIC
     explicit Node(
       const std::string & node_name,
       const std::string & namespace_,
       const NodeOptions & options = NodeOptions());
   
     RCLCPP_PUBLIC
     virtual ~Node();
   
   
     RCLCPP_PUBLIC
     const char *
     get_name() const;
   
   
     RCLCPP_PUBLIC
     const char *
     get_namespace() const;
   
   
     RCLCPP_PUBLIC
     const char *
     get_fully_qualified_name() const;
   
   
     RCLCPP_PUBLIC
     rclcpp::Logger
     get_logger() const;
   
     RCLCPP_PUBLIC
     rclcpp::CallbackGroup::SharedPtr
     create_callback_group(
       rclcpp::CallbackGroupType group_type,
       bool automatically_add_to_executor_with_node = true);
   
   
     RCLCPP_PUBLIC
     void
     for_each_callback_group(const node_interfaces::NodeBaseInterface::CallbackGroupFunction & func);
   
   
     template<
       typename MessageT,
       typename AllocatorT = std::allocator<void>,
       typename PublisherT = rclcpp::Publisher<MessageT, AllocatorT>>
     std::shared_ptr<PublisherT>
     create_publisher(
       const std::string & topic_name,
       const rclcpp::QoS & qos,
       const PublisherOptionsWithAllocator<AllocatorT> & options =
       PublisherOptionsWithAllocator<AllocatorT>()
     );
   
   
     template<
       typename MessageT,
       typename CallbackT,
       typename AllocatorT = std::allocator<void>,
       typename SubscriptionT = rclcpp::Subscription<MessageT, AllocatorT>,
       typename MessageMemoryStrategyT = typename SubscriptionT::MessageMemoryStrategyType
     >
     std::shared_ptr<SubscriptionT>
     create_subscription(
       const std::string & topic_name,
       const rclcpp::QoS & qos,
       CallbackT && callback,
       const SubscriptionOptionsWithAllocator<AllocatorT> & options =
       SubscriptionOptionsWithAllocator<AllocatorT>(),
       typename MessageMemoryStrategyT::SharedPtr msg_mem_strat = (
         MessageMemoryStrategyT::create_default()
       )
     );
   
   
     template<typename DurationRepT = int64_t, typename DurationT = std::milli, typename CallbackT>
     typename rclcpp::WallTimer<CallbackT>::SharedPtr
     create_wall_timer(
       std::chrono::duration<DurationRepT, DurationT> period,
       CallbackT callback,
       rclcpp::CallbackGroup::SharedPtr group = nullptr);
   
   
     template<typename ServiceT>
     typename rclcpp::Client<ServiceT>::SharedPtr
     create_client(
       const std::string & service_name,
       const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
       rclcpp::CallbackGroup::SharedPtr group = nullptr);
   
   
     template<typename ServiceT, typename CallbackT>
     typename rclcpp::Service<ServiceT>::SharedPtr
     create_service(
       const std::string & service_name,
       CallbackT && callback,
       const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
       rclcpp::CallbackGroup::SharedPtr group = nullptr);
   
   
     template<typename AllocatorT = std::allocator<void>>
     std::shared_ptr<rclcpp::GenericPublisher> create_generic_publisher(
       const std::string & topic_name,
       const std::string & topic_type,
       const rclcpp::QoS & qos,
       const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = (
         rclcpp::PublisherOptionsWithAllocator<AllocatorT>()
       )
     );
   
   
     template<typename AllocatorT = std::allocator<void>>
     std::shared_ptr<rclcpp::GenericSubscription> create_generic_subscription(
       const std::string & topic_name,
       const std::string & topic_type,
       const rclcpp::QoS & qos,
       std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback,
       const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
         rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
       )
     );
   
   
     RCLCPP_PUBLIC
     const rclcpp::ParameterValue &
     declare_parameter(
       const std::string & name,
       const rclcpp::ParameterValue & default_value,
       const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
       rcl_interfaces::msg::ParameterDescriptor(),
       bool ignore_override = false);
   
   
     RCLCPP_PUBLIC
     const rclcpp::ParameterValue &
     declare_parameter(
       const std::string & name,
       rclcpp::ParameterType type,
       const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
       rcl_interfaces::msg::ParameterDescriptor{},
       bool ignore_override = false);
   
   
     template<typename ParameterT>
     auto
     declare_parameter(
       const std::string & name,
       const ParameterT & default_value,
       const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
       rcl_interfaces::msg::ParameterDescriptor(),
       bool ignore_override = false);
   
   
     template<typename ParameterT>
     auto
     declare_parameter(
       const std::string & name,
       const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
       rcl_interfaces::msg::ParameterDescriptor(),
       bool ignore_override = false);
   
   
     template<typename ParameterT>
     std::vector<ParameterT>
     declare_parameters(
       const std::string & namespace_,
       const std::map<std::string, ParameterT> & parameters,
       bool ignore_overrides = false);
   
   
     template<typename ParameterT>
     std::vector<ParameterT>
     declare_parameters(
       const std::string & namespace_,
       const std::map<
         std::string,
         std::pair<ParameterT, rcl_interfaces::msg::ParameterDescriptor>
       > & parameters,
       bool ignore_overrides = false);
   
   
     RCLCPP_PUBLIC
     void
     undeclare_parameter(const std::string & name);
   
   
     RCLCPP_PUBLIC
     bool
     has_parameter(const std::string & name) const;
   
   
     RCLCPP_PUBLIC
     rcl_interfaces::msg::SetParametersResult
     set_parameter(const rclcpp::Parameter & parameter);
   
   
     RCLCPP_PUBLIC
     std::vector<rcl_interfaces::msg::SetParametersResult>
     set_parameters(const std::vector<rclcpp::Parameter> & parameters);
   
   
     RCLCPP_PUBLIC
     rcl_interfaces::msg::SetParametersResult
     set_parameters_atomically(const std::vector<rclcpp::Parameter> & parameters);
   
   
     RCLCPP_PUBLIC
     rclcpp::Parameter
     get_parameter(const std::string & name) const;
   
   
     RCLCPP_PUBLIC
     bool
     get_parameter(const std::string & name, rclcpp::Parameter & parameter) const;
   
   
     template<typename ParameterT>
     bool
     get_parameter(const std::string & name, ParameterT & parameter) const;
   
   
     template<typename ParameterT>
     bool
     get_parameter_or(
       const std::string & name,
       ParameterT & parameter,
       const ParameterT & alternative_value) const;
   
   
     template<typename ParameterT>
     ParameterT
     get_parameter_or(
       const std::string & name,
       const ParameterT & alternative_value) const;
   
   
     RCLCPP_PUBLIC
     std::vector<rclcpp::Parameter>
     get_parameters(const std::vector<std::string> & names) const;
   
   
     template<typename ParameterT>
     bool
     get_parameters(
       const std::string & prefix,
       std::map<std::string, ParameterT> & values) const;
   
   
     RCLCPP_PUBLIC
     rcl_interfaces::msg::ParameterDescriptor
     describe_parameter(const std::string & name) const;
   
   
     RCLCPP_PUBLIC
     std::vector<rcl_interfaces::msg::ParameterDescriptor>
     describe_parameters(const std::vector<std::string> & names) const;
   
   
     RCLCPP_PUBLIC
     std::vector<uint8_t>
     get_parameter_types(const std::vector<std::string> & names) const;
   
   
     RCLCPP_PUBLIC
     rcl_interfaces::msg::ListParametersResult
     list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const;
   
     using OnSetParametersCallbackHandle =
       rclcpp::node_interfaces::OnSetParametersCallbackHandle;
     using OnParametersSetCallbackType =
       rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType;
   
   
     RCLCPP_PUBLIC
     RCUTILS_WARN_UNUSED
     OnSetParametersCallbackHandle::SharedPtr
     add_on_set_parameters_callback(OnParametersSetCallbackType callback);
   
   
     RCLCPP_PUBLIC
     void
     remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const handler);
   
   
     RCLCPP_PUBLIC
     std::vector<std::string>
     get_node_names() const;
   
   
     RCLCPP_PUBLIC
     std::map<std::string, std::vector<std::string>>
     get_topic_names_and_types() const;
   
   
     RCLCPP_PUBLIC
     std::map<std::string, std::vector<std::string>>
     get_service_names_and_types() const;
   
   
     RCLCPP_PUBLIC
     std::map<std::string, std::vector<std::string>>
     get_service_names_and_types_by_node(
       const std::string & node_name,
       const std::string & namespace_) const;
   
   
     RCLCPP_PUBLIC
     size_t
     count_publishers(const std::string & topic_name) const;
   
   
     RCLCPP_PUBLIC
     size_t
     count_subscribers(const std::string & topic_name) const;
   
   
     RCLCPP_PUBLIC
     std::vector<rclcpp::TopicEndpointInfo>
     get_publishers_info_by_topic(const std::string & topic_name, bool no_mangle = false) const;
   
   
     RCLCPP_PUBLIC
     std::vector<rclcpp::TopicEndpointInfo>
     get_subscriptions_info_by_topic(const std::string & topic_name, bool no_mangle = false) const;
   
     /* The graph Event object is a loan which must be returned.
      * The Event object is scoped and therefore to return the loan just let it go
      * out of scope.
      */
     RCLCPP_PUBLIC
     rclcpp::Event::SharedPtr
     get_graph_event();
   
   
     RCLCPP_PUBLIC
     void
     wait_for_graph_change(
       rclcpp::Event::SharedPtr event,
       std::chrono::nanoseconds timeout);
   
   
     RCLCPP_PUBLIC
     rclcpp::Clock::SharedPtr
     get_clock();
   
   
     RCLCPP_PUBLIC
     rclcpp::Clock::ConstSharedPtr
     get_clock() const;
   
   
     RCLCPP_PUBLIC
     Time
     now() const;
   
     RCLCPP_PUBLIC
     rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
     get_node_base_interface();
   
     RCLCPP_PUBLIC
     rclcpp::node_interfaces::NodeClockInterface::SharedPtr
     get_node_clock_interface();
   
     RCLCPP_PUBLIC
     rclcpp::node_interfaces::NodeGraphInterface::SharedPtr
     get_node_graph_interface();
   
     RCLCPP_PUBLIC
     rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr
     get_node_logging_interface();
   
     RCLCPP_PUBLIC
     rclcpp::node_interfaces::NodeTimersInterface::SharedPtr
     get_node_timers_interface();
   
     RCLCPP_PUBLIC
     rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr
     get_node_topics_interface();
   
     RCLCPP_PUBLIC
     rclcpp::node_interfaces::NodeServicesInterface::SharedPtr
     get_node_services_interface();
   
     RCLCPP_PUBLIC
     rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr
     get_node_waitables_interface();
   
     RCLCPP_PUBLIC
     rclcpp::node_interfaces::NodeParametersInterface::SharedPtr
     get_node_parameters_interface();
   
     RCLCPP_PUBLIC
     rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr
     get_node_time_source_interface();
   
   
     RCLCPP_PUBLIC
     const std::string &
     get_sub_namespace() const;
   
   
     RCLCPP_PUBLIC
     const std::string &
     get_effective_namespace() const;
   
   
     RCLCPP_PUBLIC
     rclcpp::Node::SharedPtr
     create_sub_node(const std::string & sub_namespace);
   
     RCLCPP_PUBLIC
     const rclcpp::NodeOptions &
     get_node_options() const;
   
   protected:
   
     RCLCPP_PUBLIC
     Node(
       const Node & other,
       const std::string & sub_namespace);
   
   private:
     RCLCPP_DISABLE_COPY(Node)
   
     rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
     rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_;
     rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_;
     rclcpp::node_interfaces::NodeTimersInterface::SharedPtr node_timers_;
     rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_;
     rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_;
     rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock_;
     rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters_;
     rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr node_time_source_;
     rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr node_waitables_;
   
     const rclcpp::NodeOptions node_options_;
     const std::string sub_namespace_;
     const std::string effective_namespace_;
   };
   
   }  // namespace rclcpp
   
   #ifndef RCLCPP__NODE_IMPL_HPP_
   // Template implementations
   #include "node_impl.hpp"
   #endif
   
   #endif  // RCLCPP__NODE_HPP_