Node is the single point of entry for creating publishers and subscribers. More...

#include <node.hpp>

Inheritance diagram for rclcpp::node::Node:

Public Member Functions
	Node (const std::string &node_name, bool use_intra_process_comms=false)
	Create a new node with the specified name. More...

	Node (const std::string &node_name, rclcpp::context::Context::SharedPtr context, bool use_intra_process_comms=false)
	Create a node based on the node name and a rclcpp::context::Context. More...

virtual	~Node ()

const char *	get_name () const
	Get the name of the node. More...

rclcpp::callback_group::CallbackGroup::SharedPtr	create_callback_group (rclcpp::callback_group::CallbackGroupType group_type)
	Create and return a callback group. More...

const std::vector< rclcpp::callback_group::CallbackGroup::WeakPtr > &	get_callback_groups () const
	Return the list of callback groups in the node. More...

template<typename MessageT , typename Alloc = std::allocator<void>, typename PublisherT = ::rclcpp::publisher::Publisher<MessageT, Alloc>>
std::shared_ptr< PublisherT >	create_publisher (const std::string &topic_name, size_t qos_history_depth, std::shared_ptr< Alloc > allocator=nullptr)
	Create and return a Publisher. More...

template<typename MessageT , typename Alloc = std::allocator<void>, typename PublisherT = ::rclcpp::publisher::Publisher<MessageT, Alloc>>
std::shared_ptr< PublisherT >	create_publisher (const std::string &topic_name, const rmw_qos_profile_t &qos_profile=rmw_qos_profile_default, std::shared_ptr< Alloc > allocator=nullptr)
	Create and return a Publisher. More...

template<typename MessageT , typename CallbackT , typename Alloc = std::allocator<void>, typename SubscriptionT = rclcpp::subscription::Subscription<MessageT, Alloc>>
std::shared_ptr< SubscriptionT >	create_subscription (const std::string &topic_name, CallbackT &&callback, const rmw_qos_profile_t &qos_profile=rmw_qos_profile_default, rclcpp::callback_group::CallbackGroup::SharedPtr group=nullptr, bool ignore_local_publications=false, typename rclcpp::message_memory_strategy::MessageMemoryStrategy< MessageT, Alloc >::SharedPtr msg_mem_strat=nullptr, std::shared_ptr< Alloc > allocator=nullptr)
	Create and return a Subscription. More...

template<typename MessageT , typename CallbackT , typename Alloc = std::allocator<void>, typename SubscriptionT = rclcpp::subscription::Subscription<MessageT, Alloc>>
std::shared_ptr< SubscriptionT >	create_subscription (const std::string &topic_name, size_t qos_history_depth, CallbackT &&callback, rclcpp::callback_group::CallbackGroup::SharedPtr group=nullptr, bool ignore_local_publications=false, typename rclcpp::message_memory_strategy::MessageMemoryStrategy< MessageT, Alloc >::SharedPtr msg_mem_strat=nullptr, std::shared_ptr< Alloc > allocator=nullptr)
	Create and return a Subscription. More...

template<typename DurationT = std::milli, typename CallbackT >
rclcpp::timer::WallTimer< CallbackT >::SharedPtr	create_wall_timer (std::chrono::duration< int64_t, DurationT > period, CallbackT callback, rclcpp::callback_group::CallbackGroup::SharedPtr group=nullptr)
	Create a timer. More...

template<typename ServiceT >
rclcpp::client::Client< ServiceT >::SharedPtr	create_client (const std::string &service_name, const rmw_qos_profile_t &qos_profile=rmw_qos_profile_services_default, rclcpp::callback_group::CallbackGroup::SharedPtr group=nullptr)

template<typename ServiceT , typename CallbackT >
rclcpp::service::Service< ServiceT >::SharedPtr	create_service (const std::string &service_name, CallbackT &&callback, const rmw_qos_profile_t &qos_profile=rmw_qos_profile_services_default, rclcpp::callback_group::CallbackGroup::SharedPtr group=nullptr)

std::vector< rcl_interfaces::msg::SetParametersResult >	set_parameters (const std::vector< rclcpp::parameter::ParameterVariant > &parameters)

rcl_interfaces::msg::SetParametersResult	set_parameters_atomically (const std::vector< rclcpp::parameter::ParameterVariant > &parameters)

std::vector< rclcpp::parameter::ParameterVariant >	get_parameters (const std::vector< std::string > &names) const

rclcpp::parameter::ParameterVariant	get_parameter (const std::string &name) const

bool	get_parameter (const std::string &name, rclcpp::parameter::ParameterVariant &parameter) const

template<typename ParameterT >
bool	get_parameter (const std::string &name, ParameterT &parameter) const

std::vector< rcl_interfaces::msg::ParameterDescriptor >	describe_parameters (const std::vector< std::string > &names) const

std::vector< uint8_t >	get_parameter_types (const std::vector< std::string > &names) const

rcl_interfaces::msg::ListParametersResult	list_parameters (const std::vector< std::string > &prefixes, uint64_t depth) const

template<typename CallbackT >
void	register_param_change_callback (CallbackT &&callback)
	Register the callback for parameter changes. More...

std::map< std::string, std::string >	get_topic_names_and_types () const

size_t	count_publishers (const std::string &topic_name) const

size_t	count_subscribers (const std::string &topic_name) const

rclcpp::event::Event::SharedPtr	get_graph_event ()
	Return a graph event, which will be set anytime a graph change occurs. More...

void	wait_for_graph_change (rclcpp::event::Event::SharedPtr event, std::chrono::nanoseconds timeout)
	Wait for a graph event to occur by waiting on an Event to become set. More...

rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	get_node_base_interface ()
	Return the Node's internal NodeBaseInterface implementation. More...

rclcpp::node_interfaces::NodeGraphInterface::SharedPtr	get_node_graph_interface ()
	Return the Node's internal NodeGraphInterface implementation. More...

rclcpp::node_interfaces::NodeTimersInterface::SharedPtr	get_node_timers_interface ()
	Return the Node's internal NodeTimersInterface implementation. More...

rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr	get_node_topics_interface ()
	Return the Node's internal NodeTopicsInterface implementation. More...

rclcpp::node_interfaces::NodeServicesInterface::SharedPtr	get_node_services_interface ()
	Return the Node's internal NodeServicesInterface implementation. More...

rclcpp::node_interfaces::NodeParametersInterface::SharedPtr	get_node_parameters_interface ()
	Return the Node's internal NodeParametersInterface implementation. More...

template<typename ServiceT >
client::Client< ServiceT >::SharedPtr	create_client (const std::string &service_name, const rmw_qos_profile_t &qos_profile, rclcpp::callback_group::CallbackGroup::SharedPtr group)

Public Member Functions inherited from std::enable_shared_from_this< Node >
T	enable_shared_from_this (T... args)

T	operator= (T... args)

T	shared_from_this (T... args)

T	~enable_shared_from_this (T... args)

Detailed Description

Node is the single point of entry for creating publishers and subscribers.

Constructor & Destructor Documentation

§ Node() [1/2]

rclcpp::node::Node::Node	(	const std::string &	node_name,
		bool	use_intra_process_comms = `false`
	)

explicit

Create a new node with the specified name.

Parameters

[in]	node_name	Name of the node.
[in]	use_intra_process_comms	True to use the optimized intra-process communication pipeline to pass messages between nodes in the same process using shared memory.

§ Node() [2/2]

rclcpp::node::Node::Node	(	const std::string &	node_name,
		rclcpp::context::Context::SharedPtr	context,
		bool	use_intra_process_comms = `false`
	)

Create a node based on the node name and a rclcpp::context::Context.

Parameters

[in]	node_name	Name of the node.
[in]	context	The context for the node (usually represents the state of a process).
[in]	use_intra_process_comms	True to use the optimized intra-process communication pipeline to pass messages between nodes in the same process using shared memory.

§ ~Node()

virtual rclcpp::node::Node::~Node ( )

virtual

Member Function Documentation

§ get_name()

const char* rclcpp::node::Node::get_name ( ) const

Get the name of the node.

Returns: The name of the node.

§ create_callback_group()

rclcpp::callback_group::CallbackGroup::SharedPtr rclcpp::node::Node::create_callback_group ( rclcpp::callback_group::CallbackGroupType group_type )

Create and return a callback group.

§ get_callback_groups()

const std::vector<rclcpp::callback_group::CallbackGroup::WeakPtr>& rclcpp::node::Node::get_callback_groups ( ) const

Return the list of callback groups in the node.

§ create_publisher() [1/2]

template<typename MessageT , typename Alloc , typename PublisherT >

std::shared_ptr< PublisherT > rclcpp::node::Node::create_publisher	(	const std::string &	topic_name,
		size_t	qos_history_depth,
		std::shared_ptr< Alloc >	allocator = `nullptr`
	)

Create and return a Publisher.

Parameters

[in]	topic_name	The topic for this publisher to publish on.
[in]	qos_history_depth	The depth of the publisher message queue.
[in]	allocator	Optional custom allocator.

Returns: Shared pointer to the created publisher.

§ create_publisher() [2/2]

template<typename MessageT , typename Alloc , typename PublisherT >

std::shared_ptr< PublisherT > rclcpp::node::Node::create_publisher	(	const std::string &	topic_name,
		const rmw_qos_profile_t &	qos_profile = `rmw_qos_profile_default`,
		std::shared_ptr< Alloc >	allocator = `nullptr`
	)

Create and return a Publisher.

Parameters

[in]	topic_name	The topic for this publisher to publish on.
[in]	qos_profile	The quality of service profile to pass on to the rmw implementation.
[in]	allocator	Optional custom allocator.

Returns: Shared pointer to the created publisher.

§ create_subscription() [1/2]

template<typename MessageT , typename CallbackT , typename Alloc , typename SubscriptionT >

std::shared_ptr< SubscriptionT > rclcpp::node::Node::create_subscription	(	const std::string &	topic_name,
		CallbackT &&	callback,
		const rmw_qos_profile_t &	qos_profile = `rmw_qos_profile_default`,
		rclcpp::callback_group::CallbackGroup::SharedPtr	group = `nullptr`,
		bool	ignore_local_publications = `false`,
		typename rclcpp::message_memory_strategy::MessageMemoryStrategy< MessageT, Alloc >::SharedPtr	msg_mem_strat = `nullptr`,
		std::shared_ptr< Alloc >	allocator = `nullptr`
	)

Create and return a Subscription.

Parameters

[in]	topic_name	The topic to subscribe on.
[in]	callback	The user-defined callback function.
[in]	qos_profile	The quality of service profile to pass on to the rmw implementation.
[in]	group	The callback group for this subscription. NULL for no callback group.
[in]	ignore_local_publications	True to ignore local publications.
[in]	msg_mem_strat	The message memory strategy to use for allocating messages.
[in]	allocator	Optional custom allocator.

Returns: Shared pointer to the created subscription.

§ create_subscription() [2/2]

template<typename MessageT , typename CallbackT , typename Alloc , typename SubscriptionT >

std::shared_ptr< SubscriptionT > rclcpp::node::Node::create_subscription	(	const std::string &	topic_name,
		size_t	qos_history_depth,
		CallbackT &&	callback,
		rclcpp::callback_group::CallbackGroup::SharedPtr	group = `nullptr`,
		bool	ignore_local_publications = `false`,
		typename rclcpp::message_memory_strategy::MessageMemoryStrategy< MessageT, Alloc >::SharedPtr	msg_mem_strat = `nullptr`,
		std::shared_ptr< Alloc >	allocator = `nullptr`
	)

Create and return a Subscription.

Parameters

[in]	topic_name	The topic to subscribe on.
[in]	qos_history_depth	The depth of the subscription's incoming message queue.
[in]	callback	The user-defined callback function.
[in]	group	The callback group for this subscription. NULL for no callback group.
[in]	ignore_local_publications	True to ignore local publications.
[in]	msg_mem_strat	The message memory strategy to use for allocating messages.
[in]	allocator	Optional custom allocator.

Returns: Shared pointer to the created subscription.

§ create_wall_timer()

template<typename DurationT , typename CallbackT >

rclcpp::timer::WallTimer< CallbackT >::SharedPtr rclcpp::node::Node::create_wall_timer	(	std::chrono::duration< int64_t, DurationT >	period,
		CallbackT	callback,
		rclcpp::callback_group::CallbackGroup::SharedPtr	group = `nullptr`
	)

Create a timer.

Parameters

[in]	period	Time interval between triggers of the callback.
[in]	callback	User-defined callback function.
[in]	group	Callback group to execute this timer's callback in.

§ create_client() [1/2]

template<typename ServiceT >

rclcpp::client::Client<ServiceT>::SharedPtr rclcpp::node::Node::create_client	(	const std::string &	service_name,
		const rmw_qos_profile_t &	qos_profile = `rmw_qos_profile_services_default`,
		rclcpp::callback_group::CallbackGroup::SharedPtr	group = `nullptr`
	)

§ create_service()

template<typename ServiceT , typename CallbackT >

rclcpp::service::Service< ServiceT >::SharedPtr rclcpp::node::Node::create_service	(	const std::string &	service_name,
		CallbackT &&	callback,
		const rmw_qos_profile_t &	qos_profile = `rmw_qos_profile_services_default`,
		rclcpp::callback_group::CallbackGroup::SharedPtr	group = `nullptr`
	)

§ set_parameters()

std::vector<rcl_interfaces::msg::SetParametersResult> rclcpp::node::Node::set_parameters ( const std::vector< rclcpp::parameter::ParameterVariant > & parameters )

§ set_parameters_atomically()

rcl_interfaces::msg::SetParametersResult rclcpp::node::Node::set_parameters_atomically ( const std::vector< rclcpp::parameter::ParameterVariant > & parameters )

§ get_parameters()

std::vector<rclcpp::parameter::ParameterVariant> rclcpp::node::Node::get_parameters ( const std::vector< std::string > & names ) const

§ get_parameter() [1/3]

rclcpp::parameter::ParameterVariant rclcpp::node::Node::get_parameter ( const std::string & name ) const

§ get_parameter() [2/3]

bool rclcpp::node::Node::get_parameter	(	const std::string &	name,
		rclcpp::parameter::ParameterVariant &	parameter
	)		const

§ get_parameter() [3/3]

template<typename ParameterT >

bool rclcpp::node::Node::get_parameter	(	const std::string &	name,
		ParameterT &	parameter
	)		const

§ describe_parameters()

std::vector<rcl_interfaces::msg::ParameterDescriptor> rclcpp::node::Node::describe_parameters ( const std::vector< std::string > & names ) const

§ get_parameter_types()

std::vector<uint8_t> rclcpp::node::Node::get_parameter_types ( const std::vector< std::string > & names ) const

§ list_parameters()

rcl_interfaces::msg::ListParametersResult rclcpp::node::Node::list_parameters	(	const std::vector< std::string > &	prefixes,
		uint64_t	depth
	)		const

§ register_param_change_callback()

template<typename CallbackT >

void rclcpp::node::Node::register_param_change_callback ( CallbackT && callback )

Register the callback for parameter changes.

Parameters

[in] callback User defined callback function. It is expected to atomically set parameters.

Note: Repeated invocations of this function will overwrite previous callbacks

§ get_topic_names_and_types()

std::map<std::string, std::string> rclcpp::node::Node::get_topic_names_and_types ( ) const

§ count_publishers()

size_t rclcpp::node::Node::count_publishers ( const std::string & topic_name ) const

§ count_subscribers()

size_t rclcpp::node::Node::count_subscribers ( const std::string & topic_name ) const

§ get_graph_event()

rclcpp::event::Event::SharedPtr rclcpp::node::Node::get_graph_event ( )

Return a graph event, which will be set anytime a graph change occurs.

§ wait_for_graph_change()

void rclcpp::node::Node::wait_for_graph_change	(	rclcpp::event::Event::SharedPtr	event,
		std::chrono::nanoseconds	timeout
	)

Wait for a graph event to occur by waiting on an Event to become set.

The given Event must be acquire through the get_graph_event() method.

Exceptions

InvalidEventError	if the given event is nullptr
EventNotRegisteredError	if the given event was not acquired with get_graph_event().

§ get_node_base_interface()

rclcpp::node_interfaces::NodeBaseInterface::SharedPtr rclcpp::node::Node::get_node_base_interface ( )

Return the Node's internal NodeBaseInterface implementation.

§ get_node_graph_interface()

rclcpp::node_interfaces::NodeGraphInterface::SharedPtr rclcpp::node::Node::get_node_graph_interface ( )

Return the Node's internal NodeGraphInterface implementation.

§ get_node_timers_interface()

rclcpp::node_interfaces::NodeTimersInterface::SharedPtr rclcpp::node::Node::get_node_timers_interface ( )

Return the Node's internal NodeTimersInterface implementation.

§ get_node_topics_interface()

rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr rclcpp::node::Node::get_node_topics_interface ( )

Return the Node's internal NodeTopicsInterface implementation.

§ get_node_services_interface()

rclcpp::node_interfaces::NodeServicesInterface::SharedPtr rclcpp::node::Node::get_node_services_interface ( )

Return the Node's internal NodeServicesInterface implementation.

§ get_node_parameters_interface()

rclcpp::node_interfaces::NodeParametersInterface::SharedPtr rclcpp::node::Node::get_node_parameters_interface ( )

Return the Node's internal NodeParametersInterface implementation.

§ create_client() [2/2]

template<typename ServiceT >

client::Client<ServiceT>::SharedPtr rclcpp::node::Node::create_client	(	const std::string &	service_name,
		const rmw_qos_profile_t &	qos_profile,
		rclcpp::callback_group::CallbackGroup::SharedPtr	group
	)

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

include/rclcpp/node.hpp
include/rclcpp/node_impl.hpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

§ Node() [1/2]

§ Node() [2/2]

§ ~Node()

Member Function Documentation

§ get_name()

§ create_callback_group()

§ get_callback_groups()

§ create_publisher() [1/2]

§ create_publisher() [2/2]

§ create_subscription() [1/2]

§ create_subscription() [2/2]

§ create_wall_timer()

§ create_client() [1/2]

§ create_service()

§ set_parameters()

§ set_parameters_atomically()

§ get_parameters()

§ get_parameter() [1/3]

§ get_parameter() [2/3]

§ get_parameter() [3/3]

§ describe_parameters()

§ get_parameter_types()

§ list_parameters()

§ register_param_change_callback()

§ get_topic_names_and_types()

§ count_publishers()

§ count_subscribers()

§ get_graph_event()

§ wait_for_graph_change()

§ get_node_base_interface()

§ get_node_graph_interface()

§ get_node_timers_interface()

§ get_node_topics_interface()

§ get_node_services_interface()

§ get_node_parameters_interface()

§ create_client() [2/2]