Class GimbalModule

• Defined in File gimbal.hpp

Inheritance Relationships

Base Type

• public rclcpp_lifecycle::LifecycleNode

Class Documentation

class GimbalModule : public rclcpp_lifecycle::LifecycleNode

Public Types

using GimbalSetMode = psdk_interfaces::srv::GimbalSetMode

using GimbalReset = psdk_interfaces::srv::GimbalReset

Public Functions

explicit GimbalModule(const std::string &name)

Construct a new GimbalModule object.

Parameters:

node_name – Name of the node

~GimbalModule()

Destroy the GimbalModule object.

CallbackReturn on_configure(const rclcpp_lifecycle::State &state)

Configures the GimbalModule. Creates the ROS 2 subscribers and services.

Parameters:

state – rclcpp_lifecycle::State. Current state of the node.

Returns:

CallbackReturn SUCCESS or FAILURE

CallbackReturn on_activate(const rclcpp_lifecycle::State &state)

Activates the GimbalModule.

Parameters:

state – rclcpp_lifecycle::State. Current state of the node.

Returns:

CallbackReturn SUCCESS or FAILURE

CallbackReturn on_cleanup(const rclcpp_lifecycle::State &state)

Cleans the GimbalModule. Resets the ROS 2 subscribers and services.

Parameters:

state – rclcpp_lifecycle::State. Current state of the node.

Returns:

CallbackReturn SUCCESS or FAILURE

CallbackReturn on_deactivate(const rclcpp_lifecycle::State &state)

Deactivates the GimbalModule.

Parameters:

state – rclcpp_lifecycle::State. Current state of the node.

Returns:

CallbackReturn SUCCESS or FAILURE

CallbackReturn on_shutdown(const rclcpp_lifecycle::State &state)

Shuts down the GimbalModule.

Parameters:

state – rclcpp_lifecycle::State. Current state of the node.

Returns:

CallbackReturn SUCCESS or FAILURE

bool init()

Initialize the GimbalModule.

Returns:

true/false

bool deinit()

Deinitialize the GimbalModule.

Returns:

true/false