Class NodeBase

• Defined in File node_base.hpp

Inheritance Relationships

Base Type

• public rclcpp::node_interfaces::NodeBaseInterface

Class Documentation

class NodeBase : public rclcpp::node_interfaces::NodeBaseInterface

Public Types

using SharedPtr = std::shared_ptr<NodeBase>

using WeakPtr = std::weak_ptr<NodeBase>

Public Functions

NodeBase(std::string node_name, const std::string &ns, rclcpp::Context::SharedPtr context, const rcl_arguments_t *local_args, bool use_global_arguments = true, bool use_intra_process_default = false, bool enable_topic_statistics_default = false)

virtual ~NodeBase() = default

const char *get_name() const override

const char *get_namespace() const override

const char *get_fully_qualified_name() const override

rclcpp::Context::SharedPtr get_context() override

rcl_node_t *get_rcl_node_handle() override

const rcl_node_t *get_rcl_node_handle() const override

std::shared_ptr<rcl_node_t> get_shared_rcl_node_handle() override

std::shared_ptr<const rcl_node_t> get_shared_rcl_node_handle() const override

rclcpp::CallbackGroup::SharedPtr create_callback_group(rclcpp::CallbackGroupType group_type, bool automatically_add_to_executor_with_node = true) override

rclcpp::CallbackGroup::SharedPtr get_default_callback_group() override

bool callback_group_in_node(rclcpp::CallbackGroup::SharedPtr group) override

void for_each_callback_group(const CallbackGroupFunction &func) override

std::atomic_bool &get_associated_with_executor_atomic() override

rclcpp::GuardCondition &get_notify_guard_condition() override

bool get_use_intra_process_default() const override

bool get_enable_topic_statistics_default() const override

std::string resolve_topic_or_service_name(const std::string &name, bool is_service, bool only_expand = false) const override

inline const rcl_arguments_t *get_local_args() const

inline const rcl_arguments_t *get_global_args() const

void set_on_callback_group_created(std::function<void()> callback)