Program Listing for File MonitorNode.hpp
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/*
* Copyright (C) 2021 Open Source Robotics Foundation
*
* 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 RMF_TRAFFIC_ROS2__SCHEDULE__MONITOR_NODE_HPP
#define RMF_TRAFFIC_ROS2__SCHEDULE__MONITOR_NODE_HPP
#include <rclcpp/node.hpp>
#include <chrono>
#include <functional>
using namespace std::chrono_literals;
namespace rmf_traffic_ros2 {
namespace schedule {
std::shared_ptr<rclcpp::Node> make_monitor_node(
std::function<void(std::shared_ptr<rclcpp::Node>)> callback,
const rclcpp::NodeOptions& options = rclcpp::NodeOptions(),
std::chrono::seconds startup_timeout = 10s);
} // namespace schedule
} // namespace rmf_traffic_ros2
#endif // RMF_TRAFFIC_ROS2__SCHEDULE__MONITOR_NODE_HPP