Class SocketCanSenderNode

• Defined in File socket_can_sender_node.hpp

Inheritance Relationships

Base Type

• public rclcpp_lifecycle::LifecycleNode

Class Documentation

class SocketCanSenderNode : public rclcpp_lifecycle::LifecycleNode

SocketCanSenderNode class which can pass messages from CAN hardware or virtual channels.

Public Functions

explicit SocketCanSenderNode(rclcpp::NodeOptions options)

Default constructor.

LNI::CallbackReturn on_configure(const lc::State &state) override

Callback from transition to “configuring” state.

Parameters:

state – [in] The current state that the node is in.

LNI::CallbackReturn on_activate(const lc::State &state) override

Callback from transition to “activating” state.

Parameters:

state – [in] The current state that the node is in.

LNI::CallbackReturn on_deactivate(const lc::State &state) override

Callback from transition to “deactivating” state.

Parameters:

state – [in] The current state that the node is in.

LNI::CallbackReturn on_cleanup(const lc::State &state) override

Callback from transition to “unconfigured” state.

Parameters:

state – [in] The current state that the node is in.

LNI::CallbackReturn on_shutdown(const lc::State &state) override

Callback from transition to “shutdown” state.

Parameters:

state – [in] The current state that the node is in.

void on_frame(const can_msgs::msg::Frame::SharedPtr msg)

Callback for ros can frame.

void on_fd_frame(const ros2_socketcan_msgs::msg::FdFrame::SharedPtr msg)

Callback for ros can fd frame.