Class BaseSlave

Defined in File base_slave.hpp

Inheritance Relationships

Base Type

public rclcpp_lifecycle::LifecycleNode

Derived Types

public ros2_canopen::BasicSlave (Class BasicSlave)
public ros2_canopen::CIA402Slave (Class CIA402Slave)

Class Documentation

class BaseSlave : public rclcpp_lifecycle::LifecycleNode

Subclassed by ros2_canopen::BasicSlave, ros2_canopen::CIA402Slave

Public Functions

inline explicit BaseSlave(const std::string &node_name, bool intra_process_comms = false)

inline virtual ~BaseSlave()

virtual void run() = 0

Protected Functions

inline rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_configure(const rclcpp_lifecycle::State&)

inline rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_activate(const rclcpp_lifecycle::State&)

inline rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_deactivate(const rclcpp_lifecycle::State&)

inline rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_cleanup(const rclcpp_lifecycle::State&)

inline rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_shutdown(const rclcpp_lifecycle::State&)

Protected Attributes

std::thread run_thread

int node_id_

std::string slave_config_

std::string can_interface_name_

std::atomic<bool> activated