Class PSDKWrapper

• Defined in File psdk_wrapper.hpp

Nested Relationships

Nested Types

• Struct PSDKWrapper::PSDKParams

Inheritance Relationships

Base Type

• public rclcpp_lifecycle::LifecycleNode

Class Documentation

class PSDKWrapper : public rclcpp_lifecycle::LifecycleNode

A ROS 2 wrapper that brings all the DJI PSDK functionalities to ROS 2.

Public Types

using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn

Public Functions

explicit PSDKWrapper(const std::string &node_name)

Construct a new PSDKWrapper object.

Parameters:

node_name –

~PSDKWrapper()

Destroy the PSDKWrapper object.

CallbackReturn on_configure(const rclcpp_lifecycle::State &state) override

Configures member variable and sets the environment.

Parameters:

state – Reference to Lifecycle state

Returns:

CallbackReturn SUCCESS or FAILURE

CallbackReturn on_activate(const rclcpp_lifecycle::State &state) override

Initializes main PSDK modules.

Parameters:

state – Reference to Lifecycle state

Returns:

CallbackReturn SUCCESS or FAILURE

CallbackReturn on_deactivate(const rclcpp_lifecycle::State &state) override

Deactivates main PSDK modules and other member variables.

Parameters:

state – Reference to Lifecycle state

Returns:

CallbackReturn SUCCESS or FAILURE

CallbackReturn on_cleanup(const rclcpp_lifecycle::State &state) override

Resets member variables.

Parameters:

state – Reference to Lifecycle state

Returns:

CallbackReturn SUCCESS or FAILURE

CallbackReturn on_shutdown(const rclcpp_lifecycle::State &state) override

Deinitializes main PSDK modules.

Parameters:

state – Reference to Lifecycle state

Returns:

CallbackReturn SUCCESS or FAILURE