Class RosPluginContext
Defined in File ros_plugin_context.hpp
Inheritance Relationships
Base Type
public ros2_medkit_gateway::PluginContext(Class PluginContext)
Class Documentation
-
class RosPluginContext : public ros2_medkit_gateway::PluginContext
ROS-aware plugin context.
Extends the middleware-neutral PluginContext with the rclcpp::Node * accessor used by ROS-coupled plugins. Lives in gateway_ros2 so that gateway_core stays free of any rclcpp coupling, even at the level of forward declarations or virtual signatures. Plugins that need ROS primitives (subscriptions, service clients, parameter access) take a RosPluginContext * member; plugins that only consume the neutral surface can keep a PluginContext * and never see rclcpp.
Public Functions
-
virtual rclcpp::Node *node() const = 0
Get the ROS 2 node pointer for subscriptions, service clients, etc.
-
virtual rclcpp::Node *node() const = 0