Class LifecycleNode

Defined in File lifecycle_node.hpp

Inheritance Relationships

Base Types

public rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface (Class LifecycleNodeInterface)
public std::enable_shared_from_this< LifecycleNode >

Class Documentation

class LifecycleNode : public rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface, public std::enable_shared_from_this<LifecycleNode>

LifecycleNode for creating lifecycle components.

has lifecycle nodeinterface for configuring this node.

Public Types

using PreSetParametersCallbackHandle = rclcpp::node_interfaces::PreSetParametersCallbackHandle 

using PreSetParametersCallbackType = rclcpp::node_interfaces::NodeParametersInterface::PreSetParametersCallbackType 

using OnSetParametersCallbackHandle = rclcpp::node_interfaces::OnSetParametersCallbackHandle 

using OnSetParametersCallbackType = rclcpp::node_interfaces::NodeParametersInterface::OnSetParametersCallbackType 

using PostSetParametersCallbackHandle = rclcpp::node_interfaces::PostSetParametersCallbackHandle 

using PostSetParametersCallbackType = rclcpp::node_interfaces::NodeParametersInterface::PostSetParametersCallbackType 

Public Functions

explicit LifecycleNode(const std::string &node_name, const rclcpp::NodeOptions &options = rclcpp::NodeOptions(), bool enable_communication_interface = true)

Create a new lifecycle node with the specified name.

Parameters:

node_name – [in] Name of the node.
options – [in] Additional options to control creation of the node.
enable_communication_interface – [in] Deciding whether the communication interface of the underlying rcl_lifecycle_node shall be enabled.

LifecycleNode(const std::string &node_name, const std::string &namespace_, const rclcpp::NodeOptions &options = rclcpp::NodeOptions(), bool enable_communication_interface = true)

Create a node based on the node name.

Parameters:

node_name – [in] Name of the node.
namespace_ – [in] Namespace of the node.
options – [in] Additional options to control creation of the node.
enable_communication_interface – [in] Deciding whether the communication interface of the underlying rcl_lifecycle_node shall be enabled.

virtual ~LifecycleNode()

const char *get_name() const

Get the name of the node.

Returns:: The name of the node.

const char *get_namespace() const

Get the namespace of the node.

Returns:: The namespace of the node.

const char *get_fully_qualified_name() const

Get the fully-qualified name of the node.

The fully-qualified name includes the local namespace and name of the node.

Returns:: fully-qualified name of the node.

rclcpp::Logger get_logger() const

Get the logger of the node.

Returns:: The logger of the node.

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

Create and return a callback group.

Parameters:

group_type – [in] callback group type to create by this method.
automatically_add_to_executor_with_node – [in] A boolean that determines whether a callback group is automatically added to an executor with the node with which it is associated.

Returns:

a callback group

void for_each_callback_group(const rclcpp::node_interfaces::NodeBaseInterface::CallbackGroupFunction &func): Iterate over the callback groups in the node, calling func on each valid one.

template<typename MessageT, typename AllocatorT = std::allocator<void>> std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<MessageT, AllocatorT>> create_publisher(const std::string &topic_name, const rclcpp::QoS &qos, const PublisherOptionsWithAllocator<AllocatorT> &options = (create_default_publisher_options<AllocatorT>()))

Create and return a Publisher.

Parameters:

topic_name – [in] The topic for this publisher to publish on.
qos – [in] The Quality of Service settings for this publisher.
options – [in] The publisher options for this publisher.

Returns:

Shared pointer to the created lifecycle publisher.

template<typename MessageT, typename CallbackT, typename AllocatorT = std::allocator<void>, typename SubscriptionT = rclcpp::Subscription<MessageT, AllocatorT>, typename MessageMemoryStrategyT = typename SubscriptionT::MessageMemoryStrategyType> std::shared_ptr<SubscriptionT> create_subscription(const std::string &topic_name, const rclcpp::QoS &qos, CallbackT &&callback, const SubscriptionOptionsWithAllocator<AllocatorT> &options = create_default_subscription_options<AllocatorT>(), typename MessageMemoryStrategyT::SharedPtr msg_mem_strat = (MessageMemoryStrategyT::create_default()))

Create and return a Subscription.

Parameters:

topic_name – [in] The topic to subscribe on.
callback – [in] The user-defined callback function.
qos – [in] The quality of service for this subscription.
options – [in] The subscription options for this subscription.
msg_mem_strat – [in] The message memory strategy to use for allocating messages.

Returns:

Shared pointer to the created subscription.

template<typename DurationRepT = int64_t, typename DurationT = std::milli, typename CallbackT> rclcpp::WallTimer<CallbackT>::SharedPtr create_wall_timer(std::chrono::duration<DurationRepT, DurationT> period, CallbackT callback, rclcpp::CallbackGroup::SharedPtr group = nullptr)

Create a timer that uses the wall clock to drive the callback.

Parameters:

period – [in] Time interval between triggers of the callback.
callback – [in] User-defined callback function.
group – [in] Callback group to execute this timer’s callback in.

template<typename DurationRepT = int64_t, typename DurationT = std::milli, typename CallbackT> rclcpp::GenericTimer<CallbackT>::SharedPtr create_timer(std::chrono::duration<DurationRepT, DurationT> period, CallbackT callback, rclcpp::CallbackGroup::SharedPtr group = nullptr)

Create a timer that uses the node clock to drive the callback.

Parameters:

period – [in] Time interval between triggers of the callback.
callback – [in] User-defined callback function.
group – [in] Callback group to execute this timer’s callback in.

template<typename ServiceT> rclcpp::Client<ServiceT>::SharedPtr create_client(const std::string &service_name, const rclcpp::QoS &qos = rclcpp::ServicesQoS(), rclcpp::CallbackGroup::SharedPtr group = nullptr)

Create and return a Client.

Parameters:

service_name – [in] The name on which the service is accessible.
qos – [in] Quality of service profile for client.
group – [in] Callback group to handle the reply to service calls.

Returns:

Shared pointer to the created client.

template<typename ServiceT, typename CallbackT> rclcpp::Service<ServiceT>::SharedPtr create_service(const std::string &service_name, CallbackT &&callback, const rclcpp::QoS &qos = rclcpp::ServicesQoS(), rclcpp::CallbackGroup::SharedPtr group = nullptr)

Create and return a Service.

See also

rclcpp::Node::create_service

template<typename AllocatorT = std::allocator<void>> std::shared_ptr<rclcpp::GenericPublisher> create_generic_publisher(const std::string &topic_name, const std::string &topic_type, const rclcpp::QoS &qos, const rclcpp::PublisherOptionsWithAllocator<AllocatorT> &options = (rclcpp::PublisherOptionsWithAllocator<AllocatorT>()))

Create and return a GenericPublisher.

See also

rclcpp::Node::create_generic_publisher

template<typename AllocatorT = std::allocator<void>> std::shared_ptr<rclcpp::GenericSubscription> create_generic_subscription(const std::string &topic_name, const std::string &topic_type, const rclcpp::QoS &qos, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> &options = (rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()))

Create and return a GenericSubscription.

const rclcpp::ParameterValue &declare_parameter(const std::string &name, const rclcpp::ParameterValue &default_value, const rcl_interfaces::msg::ParameterDescriptor &parameter_descriptor = rcl_interfaces::msg::ParameterDescriptor(), bool ignore_override = false)

Declare and initialize a parameter, return the effective value.

See also

rclcpp::Node::declare_parameter

const rclcpp::ParameterValue &declare_parameter(const std::string &name, rclcpp::ParameterType type, const rcl_interfaces::msg::ParameterDescriptor &parameter_descriptor = rcl_interfaces::msg::ParameterDescriptor{}, bool ignore_override = false)

Declare and initialize a parameter, return the effective value.

See also

rclcpp::Node::declare_parameter

template<typename ParameterT> auto declare_parameter(const std::string &name, const ParameterT &default_value, const rcl_interfaces::msg::ParameterDescriptor &parameter_descriptor = rcl_interfaces::msg::ParameterDescriptor(), bool ignore_override = false)

Declare and initialize a parameter with a type.

See also

rclcpp::Node::declare_parameter

template<typename ParameterT> auto declare_parameter(const std::string &name, const rcl_interfaces::msg::ParameterDescriptor &parameter_descriptor = rcl_interfaces::msg::ParameterDescriptor(), bool ignore_override = false)

Declare and initialize a parameter with a type.

See the non-templated declare_parameter() on this class for details.

template<typename ParameterT> std::vector<ParameterT> declare_parameters(const std::string &namespace_, const std::map<std::string, ParameterT> &parameters)

Declare and initialize several parameters with the same namespace and type.

See also

rclcpp::Node::declare_parameters

template<typename ParameterT> std::vector<ParameterT> declare_parameters(const std::string &namespace_, const std::map<std::string, std::pair<ParameterT, rcl_interfaces::msg::ParameterDescriptor>> &parameters)

Declare and initialize several parameters with the same namespace and type.

See also

rclcpp::Node::declare_parameters

void undeclare_parameter(const std::string &name)

Undeclare a previously declared parameter.

See also

rclcpp::Node::undeclare_parameter

bool has_parameter(const std::string &name) const

Return true if a given parameter is declared.

See also

rclcpp::Node::has_parameter

rcl_interfaces::msg::SetParametersResult set_parameter(const rclcpp::Parameter &parameter)

Set a single parameter.

See also

rclcpp::Node::set_parameter

std::vector<rcl_interfaces::msg::SetParametersResult> set_parameters(const std::vector<rclcpp::Parameter> &parameters)

Set one or more parameters, one at a time.

See also

rclcpp::Node::set_parameters

rcl_interfaces::msg::SetParametersResult set_parameters_atomically(const std::vector<rclcpp::Parameter> &parameters)

Set one or more parameters, all at once.

See also

rclcpp::Node::set_parameters_atomically

rclcpp::Parameter get_parameter(const std::string &name) const

Return the parameter by the given name.

See also

rclcpp::Node::get_parameter

bool get_parameter(const std::string &name, rclcpp::Parameter &parameter) const

Get the value of a parameter by the given name, and return true if it was set.

See also

rclcpp::Node::get_parameter

template<typename ParameterT> bool get_parameter(const std::string &name, ParameterT &parameter) const

Get the value of a parameter by the given name, and return true if it was set.

See also

rclcpp::Node::get_parameter

template<typename ParameterT> bool get_parameter_or(const std::string &name, ParameterT &value, const ParameterT &alternative_value) const

Get the parameter value, or the “alternative_value” if not set, and assign it to “parameter”.

See also

rclcpp::Node::get_parameter_or

std::vector<rclcpp::Parameter> get_parameters(const std::vector<std::string> &names) const

Return the parameters by the given parameter names.

See also

rclcpp::Node::get_parameters

template<typename MapValueT> bool get_parameters(const std::string &prefix, std::map<std::string, MapValueT> &values) const

Get the parameter values for all parameters that have a given prefix.

See also

rclcpp::Node::get_parameters

rcl_interfaces::msg::ParameterDescriptor describe_parameter(const std::string &name) const

Return the parameter descriptor for the given parameter name.

See also

rclcpp::Node::describe_parameter

std::vector<rcl_interfaces::msg::ParameterDescriptor> describe_parameters(const std::vector<std::string> &names) const

Return a vector of parameter descriptors, one for each of the given names.

See also

rclcpp::Node::describe_parameters

std::vector<uint8_t> get_parameter_types(const std::vector<std::string> &names) const

Return a vector of parameter types, one for each of the given names.

See also

rclcpp::Node::get_parameter_types

rcl_interfaces::msg::ListParametersResult list_parameters(const std::vector<std::string> &prefixes, uint64_t depth) const

Return a list of parameters with any of the given prefixes, up to the given depth.

See also

rclcpp::Node::list_parameters

rclcpp_lifecycle::LifecycleNode::PreSetParametersCallbackHandle::SharedPtr add_pre_set_parameters_callback(rclcpp_lifecycle::LifecycleNode::PreSetParametersCallbackType callback)

Add a callback that gets triggered before parameters are validated.

rclcpp_lifecycle::LifecycleNode::OnSetParametersCallbackHandle::SharedPtr add_on_set_parameters_callback(rclcpp_lifecycle::LifecycleNode::OnSetParametersCallbackType callback)

Add a callback for when parameters are being set.

rclcpp_lifecycle::LifecycleNode::PostSetParametersCallbackHandle::SharedPtr add_post_set_parameters_callback(rclcpp_lifecycle::LifecycleNode::PostSetParametersCallbackType callback)

Add a callback that gets triggered after parameters are set successfully.

void remove_pre_set_parameters_callback(const rclcpp_lifecycle::LifecycleNode::PreSetParametersCallbackHandle *const handler)

Remove a callback registered with add_pre_set_parameters_callback.

void remove_on_set_parameters_callback(const rclcpp_lifecycle::LifecycleNode::OnSetParametersCallbackHandle *const handler)

Remove a callback registered with add_on_set_parameters_callback.

void remove_post_set_parameters_callback(const rclcpp_lifecycle::LifecycleNode::PostSetParametersCallbackHandle *const handler)

Remove a callback registered with add_post_set_parameters_callback.

std::vector<std::string> get_node_names() const

Return a vector of existing node names (string).

See also

rclcpp::Node::get_node_names

std::map<std::string, std::vector<std::string>> get_topic_names_and_types(bool no_demangle = false) const

Return a map of existing topic names to list of topic types.

See also

rclcpp::Node::get_topic_names_and_types

std::map<std::string, std::vector<std::string>> get_service_names_and_types() const

Return a map of existing service names to list of topic types.

std::map<std::string, std::vector<std::string>> get_service_names_and_types_by_node(const std::string &node_name, const std::string &namespace_) const

Return a map of existing service names to list of service types for a specific node.

This function only considers services - not clients.

Parameters:

node_name – [in] name of the node
namespace_ – [in] namespace of the node

size_t count_publishers(const std::string &topic_name) const

Return the number of publishers that are advertised on a given topic.

See also

rclcpp::Node::count_publishers

size_t count_subscribers(const std::string &topic_name) const

Return the number of subscribers who have created a subscription for a given topic.

See also

rclcpp::Node::count_subscribers

size_t count_clients(const std::string &service_name) const

Return the number of clients created for a given service.

See also

rclcpp::Node::count_clients

size_t count_services(const std::string &service_name) const

Return the number of services created for a given service.

See also

rclcpp::Node::count_services

std::vector<rclcpp::TopicEndpointInfo> get_publishers_info_by_topic(const std::string &topic_name, bool no_mangle = false) const

Return the topic endpoint information about publishers on a given topic.

std::vector<rclcpp::TopicEndpointInfo> get_subscriptions_info_by_topic(const std::string &topic_name, bool no_mangle = false) const

Return the topic endpoint information about subscriptions on a given topic.

rclcpp::Event::SharedPtr get_graph_event(): Return a graph event, which will be set anytime a graph change occurs.

void wait_for_graph_change(rclcpp::Event::SharedPtr event, std::chrono::nanoseconds timeout): Wait for a graph event to occur by waiting on an Event to become set.

rclcpp::Clock::SharedPtr get_clock()

Get a clock as a non-const shared pointer which is managed by the node.

rclcpp::Clock::ConstSharedPtr get_clock() const

Get a clock as a const shared pointer which is managed by the node.

rclcpp::Time now() const

Returns current time from the time source specified by clock_type.

See also

rclcpp::Clock::now

rclcpp::node_interfaces::NodeBaseInterface::SharedPtr get_node_base_interface()

Return the Node’s internal NodeBaseInterface implementation.

See also

rclcpp::Node::get_node_base_interface

rclcpp::node_interfaces::NodeClockInterface::SharedPtr get_node_clock_interface()

Return the Node’s internal NodeClockInterface implementation.

See also

rclcpp::Node::get_node_clock_interface

rclcpp::node_interfaces::NodeGraphInterface::SharedPtr get_node_graph_interface()

Return the Node’s internal NodeGraphInterface implementation.

See also

rclcpp::Node::get_node_graph_interface

rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr get_node_logging_interface()

Return the Node’s internal NodeLoggingInterface implementation.

rclcpp::node_interfaces::NodeTimersInterface::SharedPtr get_node_timers_interface()

Return the Node’s internal NodeTimersInterface implementation.

See also

rclcpp::Node::get_node_timers_interface

rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr get_node_topics_interface()

Return the Node’s internal NodeTopicsInterface implementation.

See also

rclcpp::Node::get_node_topics_interface

rclcpp::node_interfaces::NodeServicesInterface::SharedPtr get_node_services_interface()

Return the Node’s internal NodeServicesInterface implementation.

rclcpp::node_interfaces::NodeParametersInterface::SharedPtr get_node_parameters_interface()

Return the Node’s internal NodeParametersInterface implementation.

rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr get_node_time_source_interface()

Return the Node’s internal NodeParametersInterface implementation.

rclcpp::node_interfaces::NodeTypeDescriptionsInterface::SharedPtr get_node_type_descriptions_interface()

Return the Node’s internal NodeTypeDescriptionsInterface implementation.

rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr get_node_waitables_interface()

Return the Node’s internal NodeWaitablesInterface implementation.

const rclcpp::NodeOptions &get_node_options() const

Return the NodeOptions used when creating this node.

See also

rclcpp::Node::get_node_options

const State &get_current_state() const

Return the current State.

Returns:: the current state

std::vector<State> get_available_states() const

Return a list with the available states.

Returns:: list with the available states.

std::vector<Transition> get_available_transitions() const

Return a list with the current available transitions.

Returns:: list with the current available transitions.

std::vector<Transition> get_transition_graph() const

Return a list with all the transitions.

Returns:: list with all the transitions in the transition graph.

const State &trigger_transition(const Transition &transition): Trigger the specified transition.

const State &trigger_transition(const Transition &transition, LifecycleNodeInterface::CallbackReturn &cb_return_code): Trigger the specified transition and get the callback return code.

const State &trigger_transition(uint8_t transition_id): Trigger the specified transition based on an id.

const State &trigger_transition(uint8_t transition_id, LifecycleNodeInterface::CallbackReturn &cb_return_code): Trigger the specified transition based on an id and get the callback return code.

const State &configure(): Trigger the configure transition.

const State &configure(LifecycleNodeInterface::CallbackReturn &cb_return_code): Trigger the configure transition and get the callback return code.

const State &cleanup(): Trigger the cleanup transition.

const State &cleanup(LifecycleNodeInterface::CallbackReturn &cb_return_code): Trigger the cleanup transition and get the callback return code.

const State &activate(): Trigger the activate transition.

const State &activate(LifecycleNodeInterface::CallbackReturn &cb_return_code): Trigger the activate transition and get the callback return code.

const State &deactivate(): Trigger the deactivate transition.

const State &deactivate(LifecycleNodeInterface::CallbackReturn &cb_return_code): Trigger the deactivate transition and get the callback return code.

const State &shutdown(): Trigger the shutdown transition.

const State &shutdown(LifecycleNodeInterface::CallbackReturn &cb_return_code): Trigger the shutdown transition and get the callback return code.

bool register_on_configure(std::function<LifecycleNodeInterface::CallbackReturn(const State&)> fcn)

Register the configure callback.