Class MapsManagerNode

• Defined in File MapsManagerNode.hpp

Inheritance Relationships

Base Type

• public rclcpp_lifecycle::LifecycleNode

Class Documentation

class MapsManagerNode : public rclcpp_lifecycle::LifecycleNode

ROS 2 lifecycle node that manages map-related plugins in Easy Navigation.

Handles lifecycle transitions, plugin loading, and periodic map updates.

Public Types

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

Public Functions

explicit MapsManagerNode(const rclcpp::NodeOptions &options = rclcpp::NodeOptions())

Constructor.

Parameters:

• nav_state – Shared pointer to navigation state.

• options – Node options.

~MapsManagerNode()

Destructor.

CallbackReturnT on_configure(const rclcpp_lifecycle::State &state)

Configure the node.

Parameters:

state – Current lifecycle state.

Returns:

SUCCESS if configuration succeeds.

CallbackReturnT on_activate(const rclcpp_lifecycle::State &state)

Activate the node.

Parameters:

state – Current lifecycle state.

Returns:

SUCCESS if activation succeeds.

CallbackReturnT on_deactivate(const rclcpp_lifecycle::State &state)

Deactivate the node.

Parameters:

state – Current lifecycle state.

Returns:

SUCCESS if deactivation succeeds.

CallbackReturnT on_cleanup(const rclcpp_lifecycle::State &state)

Cleanup the node.

Parameters:

state – Current lifecycle state.

Returns:

SUCCESS if cleanup succeeds.

CallbackReturnT on_shutdown(const rclcpp_lifecycle::State &state)

Shutdown the node.

Parameters:

state – Current lifecycle state.

Returns:

SUCCESS if shutdown succeeds.

CallbackReturnT on_error(const rclcpp_lifecycle::State &state)

Handle errors during lifecycle transitions.

Parameters:

state – Current lifecycle state.

Returns:

SUCCESS if error was handled.

void cycle(std::shared_ptr<NavState> nav_state)

Execute one update cycle (non real-time).

Parameters:

nav_state – Shared pointer to the navigation state structure.