Class YasminViewerPub

• Defined in File yasmin_viewer_pub.hpp

Class Documentation

class YasminViewerPub

Publishes state machine data for visualization.

Public Functions

YasminViewerPub(const rclcpp::Node::SharedPtr &node, std::string fsm_name, std::shared_ptr<yasmin::StateMachine> fsm)

Constructs YasminViewerPub with a given ROS 2 node, state machine name, and state machine instance.

Parameters:

• node – Shared pointer to the ROS 2 node.

• fsm_name – Name of the finite state machine.

• fsm – Shared pointer to the StateMachine instance to be published.

YasminViewerPub(std::string fsm_name, std::shared_ptr<yasmin::StateMachine> fsm)

Constructs YasminViewerPub with a default ROS 2 node instance, state machine name, and state machine instance.

Parameters:

• fsm_name – Name of the finite state machine.

• fsm – Shared pointer to the StateMachine instance to be published.

std::vector<yasmin_msgs::msg::Transition> parse_transitions(std::map<std::string, std::string> transitions)

Parses transitions from a map of transitions and returns a list of Transition messages.

Parameters:

transitions – Map where keys are transition outcomes, and values are the next states.

Returns:

Vector of Transition messages.

void parse_state(std::string name, std::shared_ptr<yasmin::State> state, std::map<std::string, std::string> transitions, std::vector<yasmin_msgs::msg::State> &states_list, int parent)

Parses a state and its transitions to add it to the list of state messages.

Parameters:

• name – Name of the state to be parsed.

• state – Shared pointer to the State instance.

• transitions – Map of transitions associated with this state.

• states_list – Vector to which the parsed State message will be added.

• parent – ID of the parent state.

void publish_data()

Publishes the data of the finite state machine to the associated ROS topic.

Throws:

std::exception – if state machine validation fails.