Class LifecycleServiceClient

Defined in File lifecycle_service_client.hpp

Class Documentation

class LifecycleServiceClient

Helper functions to interact with a lifecycle node.

Public Functions

explicit LifecycleServiceClient(const std::string &lifecycle_node_name)

LifecycleServiceClient(const std::string &lifecycle_node_name, rclcpp::Node::SharedPtr parent_node)

inline ~LifecycleServiceClient()

bool change_state(const uint8_t transition, const std::chrono::milliseconds transition_timeout = std::chrono::milliseconds(-1), const std::chrono::milliseconds wait_for_service_timeout = std::chrono::milliseconds(5000))

Trigger a state change.

Throws std::runtime_error on failure

uint8_t get_state(const std::chrono::milliseconds timeout = std::chrono::milliseconds(2000))

Get the current state as a lifecycle_msgs::msg::State id value.

Throws std::runtime_error on failure

Protected Attributes

rclcpp::Node::SharedPtr node_

ServiceClient<lifecycle_msgs::srv::ChangeState> change_state_

ServiceClient<lifecycle_msgs::srv::GetState> get_state_