Template Class NodeCanopenBasicMaster

Defined in File node_canopen_basic_master.hpp

Inheritance Relationships

Base Type

public ros2_canopen::node_interfaces::NodeCanopenMaster< NODETYPE >

Class Documentation

template<class NODETYPE> class NodeCanopenBasicMaster : public ros2_canopen::node_interfaces::NodeCanopenMaster<NODETYPE>

Public Functions

inline NodeCanopenBasicMaster(NODETYPE *node)

inline virtual ~NodeCanopenBasicMaster()

virtual void activate(bool called_from_base) override

virtual void deactivate(bool called_from_base) override

virtual void init(bool called_from_base) override

void on_sdo_read(const std::shared_ptr<canopen_interfaces::srv::COReadID::Request> request, std::shared_ptr<canopen_interfaces::srv::COReadID::Response> response)

Read Service Data Object.

This Service is only available when the node is in active lifecycle state. It will return with success false in any other lifecycle state and log an RCLCPP_ERROR.

Parameters:

request –
response –

void on_sdo_write(const std::shared_ptr<canopen_interfaces::srv::COWriteID::Request> request, std::shared_ptr<canopen_interfaces::srv::COWriteID::Response> response)

Write Service Data Object.

This service is only available when the node is in active lifecycle state. It will return with success false in any other lifecycle state and log an RCLCPP_ERROR.

Parameters:

request –
response –

Protected Attributes

std::shared_ptr<LelyMasterBridge> master_bridge_

rclcpp::Service<canopen_interfaces::srv::COReadID>::SharedPtr sdo_read_service

rclcpp::Service<canopen_interfaces::srv::COWriteID>::SharedPtr sdo_write_service