Class ProxyDriver
Defined in File proxy_driver.hpp
Inheritance Relationships
Base Type
public ros2_canopen::CanopenDriver
Class Documentation
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class ProxyDriver : public ros2_canopen::CanopenDriver
Abstract Class for a CANopen Device Node.
This class provides the base functionality for creating a CANopen device node. It provides callbacks for nmt and rpdo.
Public Functions
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ProxyDriver(rclcpp::NodeOptions node_options = rclcpp::NodeOptions())
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inline virtual bool reset_node_nmt_command()
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inline virtual bool start_node_nmt_command()
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inline virtual bool tpdo_transmit(ros2_canopen::COData &data)
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inline virtual bool sdo_write(ros2_canopen::COData &data)
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inline virtual bool sdo_read(ros2_canopen::COData &data)
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inline void register_nmt_state_cb(std::function<void(canopen::NmtState, uint8_t)> nmt_state_cb)
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inline void register_rpdo_cb(std::function<void(COData, uint8_t)> rpdo_cb)
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ProxyDriver(rclcpp::NodeOptions node_options = rclcpp::NodeOptions())