Template Class AbstractPluginManager

• Defined in File abstract_plugin_manager.h

Class Documentation

template<typename PluginType>
class AbstractPluginManager

Public Types

typedef std::function<typename PluginType::Ptr(const std::string &plugin)> loadPluginFunction

typedef std::function<bool(const std::string &name, const typename PluginType::Ptr &plugin_ptr)> initPluginFunction

Public Functions

AbstractPluginManager(const std::string &param_name, const loadPluginFunction &loadPlugin, const initPluginFunction &initPlugin, const rclcpp::Node::SharedPtr &node_handle)

bool loadPlugins()

Returns false if no plugins were loaded. Returns true if at least one plugin was loaded.

bool hasPlugin(const std::string &name) const

std::string getType(const std::string &name) const

std::vector<std::string> getLoadedNames() const

PluginType::Ptr getPlugin(const std::string &name)

void clearPlugins()

Protected Attributes

std::unordered_map<std::string, std::string> configured_plugins_

maps plugin names to plugin types, as defined by ros params.

std::unordered_map<std::string, typename PluginType::Ptr> loaded_plugins_

maps plugin names to instances of loaded plugins

const std::string param_name_

const loadPluginFunction loadPlugin_

const initPluginFunction initPlugin_

rclcpp::Node::SharedPtr node_handle_