Class PlannerNode

Defined in File PlannerNode.hpp

Inheritance Relationships

Base Type

public rclcpp_lifecycle::LifecycleNode

Class Documentation

class PlannerNode : public rclcpp_lifecycle::LifecycleNode

Public Types

using CallbackReturnT = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn

using SolverMap = std::unordered_map<std::string, plansys2::PlanSolverBase::Ptr>

Public Functions

PlannerNode()

CallbackReturnT on_configure(const rclcpp_lifecycle::State &state)

CallbackReturnT on_activate(const rclcpp_lifecycle::State &state)

CallbackReturnT on_deactivate(const rclcpp_lifecycle::State &state)

CallbackReturnT on_cleanup(const rclcpp_lifecycle::State &state)

CallbackReturnT on_shutdown(const rclcpp_lifecycle::State &state)

CallbackReturnT on_error(const rclcpp_lifecycle::State &state)

void get_plan_service_callback(const std::shared_ptr<rmw_request_id_t> request_header, const std::shared_ptr<plansys2_msgs::srv::GetPlan::Request> request, const std::shared_ptr<plansys2_msgs::srv::GetPlan::Response> response)