Class SerialBridgeNode

• Defined in File serial_bridge_node.hpp

Inheritance Relationships

Base Type

• public rclcpp_lifecycle::LifecycleNode

Class Documentation

class SerialBridgeNode : public rclcpp_lifecycle::LifecycleNode

SerialBridgeNode class which can send and receive serial data.

Public Functions

explicit SerialBridgeNode(const rclcpp::NodeOptions &options)

Default constructor.

Parameters:

options – [in] Options for the node

SerialBridgeNode(const rclcpp::NodeOptions &options, const IoContext &ctx)

Constructor which accepts IoContext.

Parameters:

• options – [in] Options for the node

• ctx – [in] A shared IoContext

~SerialBridgeNode()

Destructor - required to manage owned IoContext.

LNI::CallbackReturn on_configure(const lc::State &state) override

Callback from transition to “configuring” state.

Parameters:

state – [in] The current state that the node is in.

LNI::CallbackReturn on_activate(const lc::State &state) override

Callback from transition to “activating” state.

Parameters:

state – [in] The current state that the node is in.

LNI::CallbackReturn on_deactivate(const lc::State &state) override

Callback from transition to “deactivating” state.

Parameters:

state – [in] The current state that the node is in.

LNI::CallbackReturn on_cleanup(const lc::State &state) override

Callback from transition to “unconfigured” state.

Parameters:

state – [in] The current state that the node is in.

LNI::CallbackReturn on_shutdown(const lc::State &state) override

Callback from transition to “shutdown” state.

Parameters:

state – [in] The current state that the node is in.

void subscriber_callback(const UInt8MultiArray::SharedPtr msg)

Callback for sending a raw serial message.

void receive_callback(const std::vector<uint8_t> &buffer, const size_t &bytes_transferred)

\breif Callback for when serial data are received