Class GetParametersState

• Defined in File get_parameters_state.hpp

Inheritance Relationships

Base Type

• public yasmin::State

Class Documentation

class GetParametersState : public yasmin::State

State that retrieves parameters from the ROS 2 parameter server.

This state retrieves parameters from the ROS 2 parameter server and stores them in the blackboard.

Public Types

using Parameters = std::unordered_map<std::string, std::any>

Type alias for a map of parameters.

Public Functions

GetParametersState(const Parameters &parameters, rclcpp::Node::SharedPtr node = nullptr)

Constructs a GetParametersState with a map of parameters.

Parameters:

• parameters – A map of parameter names to their default values.

• node – A shared pointer to the ROS 2 node.

std::string execute(yasmin::Blackboard::SharedPtr blackboard) override

Executes the state to retrieve parameters.

Parameters:

blackboard – A reference to the Yasmin blackboard.

Returns:

A string representing the outcome of the execution.