Function pal_statistics::getOrCreateRegistry(rclcpp::node_interfaces::NodeParametersInterface::SharedPtr, rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr, const rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr&, const rclcpp::node_interfaces::NodeClockInterface::SharedPtr&, const std::string&, const std::string&)

Function Documentation

std::shared_ptr<StatisticsRegistry> pal_statistics::getOrCreateRegistry(rclcpp::node_interfaces::NodeParametersInterface::SharedPtr parameters_interface, rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr topics_interface, const rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr &logging_interface, const rclcpp::node_interfaces::NodeClockInterface::SharedPtr &clock_interface, const std::string &topic, const std::string &registry_key)

Creates the registry for the given node interfaces and topic and stores it in the global registry map using the key, if it doesn’t exist. If it already exists, it returns the existing one.

Parameters:

  • parameters_interface – - The parameters interface of the node

  • topics_interface – - The topics interface of the node

  • logging_interface – - The logging interface of the node

  • clock_interface – - The clock interface of the node

  • topic – - The topic to publish the statistics

  • registry_key – - The key to store the registry in the global registry map