Class YasminViewerNode

• Defined in File yasmin_viewer_node.hpp

Nested Relationships

Nested Types

• Struct YasminViewerNode::CachedFsm

Inheritance Relationships

Base Type

• public rclcpp::Node

Class Documentation

class YasminViewerNode : public rclcpp::Node

ROS 2 node that receives state machine descriptions and exposes them for the web viewer.

Public Functions

YasminViewerNode()

Constructs the YasminViewerNode and initializes subscriptions, parameters, and the web server.

~YasminViewerNode() override

Destroys the YasminViewerNode and stops the web server.

YasminViewerNode(const YasminViewerNode&) = delete

YasminViewerNode &operator=(const YasminViewerNode&) = delete

std::string get_fsms_json() const

Returns the cached finite state machines as a JSON string.

Returns:

JSON representation of all cached finite state machines.

std::string get_web_root() const

Returns the configured web root directory.

Returns:

Path to the web root directory.