Class Node

• Defined in File node.hpp

Inheritance Relationships

Base Type

• public rclcpp::Node

Class Documentation

class Node : public rclcpp::Node

Node to as central manager of all classes of the driver.

Creates driver, configures converters with node and sender interface and registers receivers in driver.

Public Types

using Converters = std::vector<Converter::SharedPtr>

Public Functions

explicit Node(const std::string &node_name, const rclcpp::NodeOptions &options = rclcpp::NodeOptions())

Construct a new Node object.

Parameters:

node_name – Name of node

void configure(Converters converters)

Create driver, configure converters, register receivers and start receiving.

Parameters:

converters – List of converters to connect to driver