Struct rcl_lifecycle_com_interface_s

Struct Documentation

struct rcl_lifecycle_com_interface_s

It contains the communication interfac with the ROS world.

Public Members

rcl_node_t *node_handle

Handle to the node used to create the publisher and the services.

rcl_publisher_t pub_transition_event

Event used to publish the transitions.

rcl_service_t srv_change_state

Service that allows to trigger changes on the state.

rcl_service_t srv_get_state

Service that allows to get the current state.

rcl_service_t srv_get_available_states

Service that allows to get the available states.

rcl_service_t srv_get_available_transitions

Service that allows to get the available transitions.

rcl_service_t srv_get_transition_graph

Service that allows to get transitions from the graph.

lifecycle_msgs__msg__TransitionEvent msg

Cached transition event message.