Class Node

Inheritance Relationships

Base Type

  • public rclcpp::Node

Class Documentation

class Node : public rclcpp::Node

Public Functions

inline bool parameters_changed()

Function to check if there are new parameters to apply

Parameters:

true – if there are paremeter changes

inline void parameters_applied()

function to signale that the new paremeters are applied

inline void parameters_has_changed()

function to signale that there are new paremeters

inline void update_parameter_and_log(const char *name, double &value, bool &flag_changed, bool force_update)

function to update parameters on changes and prints a log message if the value was updated

Parameters:
  • name – name of the shared parameter

  • value – value to store the parameter content

  • flag_changed – will be set on true of the parameter changed or the value was read the first time

  • force_update – forces a value update on ture

inline void update_parameter_and_log(const char *name, bool &value, bool &flag_changed, bool force_update)

function to update parameters on changes and prints a log message if the value was updated

Parameters:
  • name – name of the shared parameter

  • value – value to store the parameter content

  • flag_changed – will be set on true of the parameter changed or the value was read the first time

  • force_update – forces a value update on ture

inline void update_parameter_and_log(const char *name, int &value, bool &flag_changed, bool force_update)

function to update parameters on changes and prints a log message if the value was updated

Parameters:
  • name – name of the shared parameter

  • value – value to store the parameter content

  • flag_changed – will be set on true of the parameter changed or the value was read the first time

  • force_update – forces a value update on ture

inline void get_parameter_and_log(const char *name, bool &value)

function to read a parameter and prints a log message

Parameters:
  • name – name of the shared parameter

  • value – value to store the parameter content

inline void get_parameter_and_log(const char *name, int &value)

function to read a parameter and prints a log message

Parameters:
  • name – name of the shared parameter

  • value – value to store the parameter content

inline void get_parameter_and_log(const char *name, double &value)

function to read a parameter and prints a log message

Parameters:
  • name – name of the shared parameter

  • value – value to store the parameter content

inline void get_parameter_and_log(const char *name, std::string &value)

function to read a parameter and prints a log message

Parameters:
  • name – name of the shared parameter

  • value – value to store the parameter content

inline void declare_parameters_with_description(const char *name, const char *default_value, const char *description)

declares parameters with description and defines a default value

Parameters:
  • name – name of the shared parameter

  • default_value – default_value

  • description – description

inline void declare_parameters_with_description(const char *name, bool default_value, const char *description)

declares parameters with description and defines a default value

Parameters:
  • name – name of the shared parameter

  • default_value – default_value

  • description – description

inline void declare_parameters_with_description(const char *name, double default_value, const char *description)

declares parameters with description and defines a default value

Parameters:
  • name – name of the shared parameter

  • default_value – default_value

  • description – description

inline void declare_parameters_with_description(const char *name, double default_value, const char *description, double min, double max, double step_size = 0.01)

declares parameters with description and defines a default value

Parameters:
  • name – name of the shared parameter

  • default_value – default_value

  • description – description

  • min – min value

  • max – max value

  • step_size – step size

inline void declare_parameters_with_description(const char *name, int default_value, const char *description)

declares parameters with description and defines a default value

Parameters:
  • name – name of the shared parameter

  • default_value – default_value

  • description – description

inline void declare_parameters_with_description(const char *name, int default_value, const char *description, int min, int max, int step_size = 1)

declares parameters with description and defines a default value

Parameters:
  • name – name of the shared parameter

  • default_value – default_value

  • description – description

  • min – min value

  • max – max value

  • step_size – step size