Function rmf_traffic_ros2::schedule::make_mirror

Function Documentation

MirrorManagerFuture rmf_traffic_ros2::schedule::make_mirror(const std::shared_ptr<rclcpp::Node> &node, rmf_traffic::schedule::Query query, MirrorManager::Options options = MirrorManager::Options())

Initiate creation of a mirror manager that uses the given node to communicate to the RMF Traffic Schedule. It will filter its contents according to the Spacetime Query description that it is given.

Creating a mirror manager involves some asynchronous service calls to

Parameters:

  • node – [in] The rclcpp node to use. This will be stored as a weak_ptr, so it is okay to store the mirror manager inside of the node.

  • spacetime – [in] The spacetime description to filter the query

  • options – [in] Options to configure the management of the mirror