Class LifecycleBaseDriver

• Defined in File lifecycle_base_driver.hpp

Inheritance Relationships

Base Type

• public ros2_canopen::LifecycleCanopenDriver

Class Documentation

class LifecycleBaseDriver : public ros2_canopen::LifecycleCanopenDriver

Lifecycle Base Driver.

A very basic driver without any functionality.

Public Functions

LifecycleBaseDriver(rclcpp::NodeOptions node_options = rclcpp::NodeOptions())

inline void register_nmt_state_cb(std::function<void(canopen::NmtState, uint8_t)> nmt_state_cb)

inline void register_rpdo_cb(std::function<void(COData, uint8_t)> rpdo_cb)