Class DomainExpertNode

• Defined in File DomainExpertNode.hpp

Inheritance Relationships

Base Type

• public rclcpp_lifecycle::LifecycleNode

Class Documentation

class DomainExpertNode : public rclcpp_lifecycle::LifecycleNode

DomainExpertNode contains a model, and manages the requests from the DomainExpertClient.

Public Types

using CallbackReturnT = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn

Public Functions

DomainExpertNode()

Create a new DomainExpertNode.

CallbackReturnT on_configure(const rclcpp_lifecycle::State &state)

Configures domain by creating a DomainExpert object.

Parameters

state – [in] LifeCycle Node’s state

Returns

Success or Failure

CallbackReturnT on_activate(const rclcpp_lifecycle::State &state)

Activates the node.

Parameters

state – [in] LifeCycle Node’s state

Returns

Success or Failure

CallbackReturnT on_deactivate(const rclcpp_lifecycle::State &state)

Deactivates the node.

Parameters

state – [in] LifeCycle Node’s state

Returns

Success or Failure

CallbackReturnT on_cleanup(const rclcpp_lifecycle::State &state)

Cleans up the node.

Parameters

state – [in] LifeCycle Node’s state

Returns

Success or Failure

CallbackReturnT on_shutdown(const rclcpp_lifecycle::State &state)

Shuts down the node.

Parameters

state – [in] LifeCycle Node’s state

Returns

Success or Failure

CallbackReturnT on_error(const rclcpp_lifecycle::State &state)

Manages the error in the node.

Parameters

state – [in] LifeCycle Node’s state

Returns

Success or Failure

void get_domain_name_service_callback(const std::shared_ptr<rmw_request_id_t> request_header, const std::shared_ptr<plansys2_msgs::srv::GetDomainName::Request> request, const std::shared_ptr<plansys2_msgs::srv::GetDomainName::Response> response)

Receives the result of the GetDomainName service call.

Parameters

• request_header – [in] The header of the request

• request – [in] The request

• request – [out] The response

void get_domain_types_service_callback(const std::shared_ptr<rmw_request_id_t> request_header, const std::shared_ptr<plansys2_msgs::srv::GetDomainTypes::Request> request, const std::shared_ptr<plansys2_msgs::srv::GetDomainTypes::Response> response)

Receives the result of the GetDomainTypes service call.

Parameters

• request_header – [in] The header of the request

• request – [in] The request

• request – [out] The response

void get_domain_actions_service_callback(const std::shared_ptr<rmw_request_id_t> request_header, const std::shared_ptr<plansys2_msgs::srv::GetDomainActions::Request> request, const std::shared_ptr<plansys2_msgs::srv::GetDomainActions::Response> response)

Receives the result of the GetDomainActions service call.

Parameters

• request_header – [in] The header of the request

• request – [in] The request

• request – [out] The response

void get_domain_action_details_service_callback(const std::shared_ptr<rmw_request_id_t> request_header, const std::shared_ptr<plansys2_msgs::srv::GetDomainActionDetails::Request> request, const std::shared_ptr<plansys2_msgs::srv::GetDomainActionDetails::Response> response)

Receives the result of the GetDomainActionDetails service call.

Parameters

• request_header – [in] The header of the request

• request – [in] The request

• request – [out] The response

void get_domain_durative_actions_service_callback(const std::shared_ptr<rmw_request_id_t> request_header, const std::shared_ptr<plansys2_msgs::srv::GetDomainActions::Request> request, const std::shared_ptr<plansys2_msgs::srv::GetDomainActions::Response> response)

Receives the result of the GetDomainActions service call.

Parameters

• request_header – [in] The header of the request

• request – [in] The request

• request – [out] The response

void get_domain_durative_action_details_service_callback(const std::shared_ptr<rmw_request_id_t> request_header, const std::shared_ptr<plansys2_msgs::srv::GetDomainDurativeActionDetails::Request> request, const std::shared_ptr<plansys2_msgs::srv::GetDomainDurativeActionDetails::Response> response)

Receives the result of the GetDomainDurativeActionDetails service call.

Parameters

• request_header – [in] The header of the request

• request – [in] The request

• request – [out] The response

void get_domain_predicates_service_callback(const std::shared_ptr<rmw_request_id_t> request_header, const std::shared_ptr<plansys2_msgs::srv::GetStates::Request> request, const std::shared_ptr<plansys2_msgs::srv::GetStates::Response> response)

Receives the result of the GetDomainPredicates service call.

Parameters

• request_header – [in] The header of the request

• request – [in] The request

• request – [out] The response

void get_domain_predicate_details_service_callback(const std::shared_ptr<rmw_request_id_t> request_header, const std::shared_ptr<plansys2_msgs::srv::GetNodeDetails::Request> request, const std::shared_ptr<plansys2_msgs::srv::GetNodeDetails::Response> response)

Receives the result of the GetNodeDetails service call.

Parameters

• request_header – [in] The header of the request

• request – [in] The request

• request – [out] The response

void get_domain_functions_service_callback(const std::shared_ptr<rmw_request_id_t> request_header, const std::shared_ptr<plansys2_msgs::srv::GetStates::Request> request, const std::shared_ptr<plansys2_msgs::srv::GetStates::Response> response)

Receives the result of the GetDomainFunctions service call.

Parameters

• request_header – [in] The header of the request

• request – [in] The request

• request – [out] The response

void get_domain_function_details_service_callback(const std::shared_ptr<rmw_request_id_t> request_header, const std::shared_ptr<plansys2_msgs::srv::GetNodeDetails::Request> request, const std::shared_ptr<plansys2_msgs::srv::GetNodeDetails::Response> response)

Receives the result of the GetDomainFunctionDetails service call.

Parameters

• request_header – [in] The header of the request

• request – [in] The request

• request – [out] The response

void get_domain_service_callback(const std::shared_ptr<rmw_request_id_t> request_header, const std::shared_ptr<plansys2_msgs::srv::GetDomain::Request> request, const std::shared_ptr<plansys2_msgs::srv::GetDomain::Response> response)

Receives the result of the GetDomain service call.

Parameters

• request_header – [in] The header of the request

• request – [in] The request

• request – [out] The response