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C++ ROS Client Library API
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rclcpp::node_interfaces::NodeBase Class Reference

Implementation of the NodeBase part of the Node API. More...

#include <node_base.hpp>

Inheritance diagram for rclcpp::node_interfaces::NodeBase:
rclcpp::node_interfaces::NodeBaseInterface

Public Member Functions

 NodeBase (const std::string &node_name, const std::string &namespace_, rclcpp::Context::SharedPtr context)
 
virtual ~NodeBase ()
 
virtual const char * get_name () const
 Return the name of the node. More...
 
virtual const char * get_namespace () const
 Return the namespace of the node. More...
 
virtual rclcpp::Context::SharedPtr get_context ()
 Return the context of the node. More...
 
virtual rcl_node_tget_rcl_node_handle ()
 Return the rcl_node_t node handle (non-const version). More...
 
virtual const rcl_node_tget_rcl_node_handle () const
 Return the rcl_node_t node handle (const version). More...
 
virtual std::shared_ptr< rcl_node_tget_shared_rcl_node_handle ()
 Return the rcl_node_t node handle in a std::shared_ptr. More...
 
virtual std::shared_ptr< const rcl_node_tget_shared_rcl_node_handle () const
 Return the rcl_node_t node handle in a std::shared_ptr. More...
 
virtual rclcpp::callback_group::CallbackGroup::SharedPtr create_callback_group (rclcpp::callback_group::CallbackGroupType group_type)
 Create and return a callback group. More...
 
virtual rclcpp::callback_group::CallbackGroup::SharedPtr get_default_callback_group ()
 Return the default callback group. More...
 
virtual bool callback_group_in_node (rclcpp::callback_group::CallbackGroup::SharedPtr group)
 Return true if the given callback group is associated with this node. More...
 
virtual const std::vector< rclcpp::callback_group::CallbackGroup::WeakPtr > & get_callback_groups () const
 Return list of callback groups associated with this node. More...
 
virtual std::atomic_bool & get_associated_with_executor_atomic ()
 Return the atomic bool which is used to ensure only one executor is used. More...
 
virtual rcl_guard_condition_tget_notify_guard_condition ()
 Return guard condition that should be notified when the internal node state changes. More...
 
virtual std::unique_lock< std::recursive_mutexacquire_notify_guard_condition_lock () const
 Acquire and return a scoped lock that protects the notify guard condition. More...
 

Detailed Description

Implementation of the NodeBase part of the Node API.

Constructor & Destructor Documentation

◆ NodeBase()

rclcpp::node_interfaces::NodeBase::NodeBase ( const std::string node_name,
const std::string namespace_,
rclcpp::Context::SharedPtr  context 
)

◆ ~NodeBase()

virtual rclcpp::node_interfaces::NodeBase::~NodeBase ( )
virtual

Member Function Documentation

◆ get_name()

virtual const char* rclcpp::node_interfaces::NodeBase::get_name ( ) const
virtual

Return the name of the node.

Returns
The name of the node.

Implements rclcpp::node_interfaces::NodeBaseInterface.

◆ get_namespace()

virtual const char* rclcpp::node_interfaces::NodeBase::get_namespace ( ) const
virtual

Return the namespace of the node.

Returns
The namespace of the node.

Implements rclcpp::node_interfaces::NodeBaseInterface.

◆ get_context()

virtual rclcpp::Context::SharedPtr rclcpp::node_interfaces::NodeBase::get_context ( )
virtual

Return the context of the node.

Returns
SharedPtr to the node's context.

Implements rclcpp::node_interfaces::NodeBaseInterface.

◆ get_rcl_node_handle() [1/2]

virtual rcl_node_t* rclcpp::node_interfaces::NodeBase::get_rcl_node_handle ( )
virtual

Return the rcl_node_t node handle (non-const version).

Implements rclcpp::node_interfaces::NodeBaseInterface.

◆ get_rcl_node_handle() [2/2]

virtual const rcl_node_t* rclcpp::node_interfaces::NodeBase::get_rcl_node_handle ( ) const
virtual

Return the rcl_node_t node handle (const version).

Implements rclcpp::node_interfaces::NodeBaseInterface.

◆ get_shared_rcl_node_handle() [1/2]

virtual std::shared_ptr<rcl_node_t> rclcpp::node_interfaces::NodeBase::get_shared_rcl_node_handle ( )
virtual

Return the rcl_node_t node handle in a std::shared_ptr.

This handle remains valid after the Node is destroyed. The actual rcl node is not finalized until it is out of scope everywhere.

Implements rclcpp::node_interfaces::NodeBaseInterface.

◆ get_shared_rcl_node_handle() [2/2]

virtual std::shared_ptr<const rcl_node_t> rclcpp::node_interfaces::NodeBase::get_shared_rcl_node_handle ( ) const
virtual

Return the rcl_node_t node handle in a std::shared_ptr.

This handle remains valid after the Node is destroyed. The actual rcl node is not finalized until it is out of scope everywhere.

Implements rclcpp::node_interfaces::NodeBaseInterface.

◆ create_callback_group()

virtual rclcpp::callback_group::CallbackGroup::SharedPtr rclcpp::node_interfaces::NodeBase::create_callback_group ( rclcpp::callback_group::CallbackGroupType  group_type)
virtual

Create and return a callback group.

Implements rclcpp::node_interfaces::NodeBaseInterface.

◆ get_default_callback_group()

virtual rclcpp::callback_group::CallbackGroup::SharedPtr rclcpp::node_interfaces::NodeBase::get_default_callback_group ( )
virtual

Return the default callback group.

Implements rclcpp::node_interfaces::NodeBaseInterface.

◆ callback_group_in_node()

virtual bool rclcpp::node_interfaces::NodeBase::callback_group_in_node ( rclcpp::callback_group::CallbackGroup::SharedPtr  group)
virtual

Return true if the given callback group is associated with this node.

Implements rclcpp::node_interfaces::NodeBaseInterface.

◆ get_callback_groups()

virtual const std::vector<rclcpp::callback_group::CallbackGroup::WeakPtr>& rclcpp::node_interfaces::NodeBase::get_callback_groups ( ) const
virtual

Return list of callback groups associated with this node.

Implements rclcpp::node_interfaces::NodeBaseInterface.

◆ get_associated_with_executor_atomic()

virtual std::atomic_bool& rclcpp::node_interfaces::NodeBase::get_associated_with_executor_atomic ( )
virtual

Return the atomic bool which is used to ensure only one executor is used.

Implements rclcpp::node_interfaces::NodeBaseInterface.

◆ get_notify_guard_condition()

virtual rcl_guard_condition_t* rclcpp::node_interfaces::NodeBase::get_notify_guard_condition ( )
virtual

Return guard condition that should be notified when the internal node state changes.

For example, this should be notified when a publisher is added or removed.

Returns
the rcl_guard_condition_t if it is valid, else nullptr

Implements rclcpp::node_interfaces::NodeBaseInterface.

◆ acquire_notify_guard_condition_lock()

virtual std::unique_lock<std::recursive_mutex> rclcpp::node_interfaces::NodeBase::acquire_notify_guard_condition_lock ( ) const
virtual

Acquire and return a scoped lock that protects the notify guard condition.

This should be used when triggering the notify guard condition.

Implements rclcpp::node_interfaces::NodeBaseInterface.


The documentation for this class was generated from the following file: