Class LifecycleProxyDriver

Defined in File lifecycle_proxy_driver.hpp

Inheritance Relationships

Base Type

public ros2_canopen::LifecycleCanopenDriver

Class Documentation

class LifecycleProxyDriver : public ros2_canopen::LifecycleCanopenDriver

Lifecycle Proxy Driver.

A very basic driver without any functionality.

Public Functions

LifecycleProxyDriver(rclcpp::NodeOptions node_options = rclcpp::NodeOptions())

inline virtual bool reset_node_nmt_command()

inline virtual bool start_node_nmt_command()

inline virtual bool tpdo_transmit(ros2_canopen::COData &data)

inline virtual bool sdo_write(ros2_canopen::COData &data)

inline virtual bool sdo_read(ros2_canopen::COData &data)

inline void register_nmt_state_cb(std::function<void(canopen::NmtState, uint8_t)> nmt_state_cb)

inline void register_rpdo_cb(std::function<void(COData, uint8_t)> rpdo_cb)