Class CanopenDriver

Inheritance Relationships

Base Types

Class Documentation

class CanopenDriver : public ros2_canopen::CanopenDriverInterface, public rclcpp::Node

Canopen Driver.

This provides a class, that driver nodes that are based on rclcpp::Node should be derived of. This class implements the ros2_canopen::CanopenDriverInterface.

Public Functions

inline explicit CanopenDriver(const rclcpp::NodeOptions &node_options = rclcpp::NodeOptions())
virtual void init() override

Initialise the driver.

This function will activate the driver using the instantiated node_canopen_driver_. It will call the init, configure, demand_set_master and activate of the NodeCanopenDriverInterface. If the function finishes without exception, the driver is activated and ready for use.

virtual void set_master(std::shared_ptr<lely::ev::Executor> exec, std::shared_ptr<lely::canopen::AsyncMaster> master) override

Set the master object.

This function will set the Canopen Master Objects that are necessary for the driver to be instantiated. It will be called by the device container when the init_driver service is invoked.

Parameters:

  • exec –

  • master –

inline virtual rclcpp::node_interfaces::NodeBaseInterface::SharedPtr get_node_base_interface() override

Get the node base interface object.

This function shall return an rclcpp::node_interfaces::NodeBaseInterface::SharedPtr. The pointer will be used to add the driver node to the executor.

Returns:

rclcpp::node_interfaces::NodeBaseInterface::SharedPtr

virtual void shutdown() override

Shutdown the driver.

This function will shutdown the driver by calling the shutdown() function of node_canopen_driver_.

inline virtual bool is_lifecycle() override

Check whether this is a LifecycleNode.

Returns:

false

inline virtual std::shared_ptr<node_interfaces::NodeCanopenDriverInterface> get_node_canopen_driver_interface()

Get the node canopen driver interface object.

This function gives access to the underlying NodeCanopenDriverInterface.

Returns:

std::shared_ptr<node_interfaces::NodeCanopenDriverInterface>

Public Members

std::shared_ptr<node_interfaces::NodeCanopenDriverInterface> node_canopen_driver_