15 #ifndef RCLCPP__NODE_HPP_ 16 #define RCLCPP__NODE_HPP_ 19 #include <condition_variable> 31 #include "rcl_interfaces/msg/list_parameters_result.hpp" 32 #include "rcl_interfaces/msg/parameter_descriptor.hpp" 33 #include "rcl_interfaces/msg/parameter_event.hpp" 34 #include "rcl_interfaces/msg/set_parameters_result.hpp" 74 explicit Node(
const std::string & node_name,
bool use_intra_process_comms =
false);
85 const std::string & node_name, rclcpp::context::Context::SharedPtr context,
86 bool use_intra_process_comms =
false);
99 rclcpp::callback_group::CallbackGroup::SharedPtr
119 const std::string & topic_name,
size_t qos_history_depth,
161 CallbackT && callback,
163 rclcpp::callback_group::CallbackGroup::SharedPtr group =
nullptr,
164 bool ignore_local_publications =
false,
166 msg_mem_strat =
nullptr,
192 size_t qos_history_depth,
193 CallbackT && callback,
194 rclcpp::callback_group::CallbackGroup::SharedPtr group =
nullptr,
195 bool ignore_local_publications =
false,
197 msg_mem_strat =
nullptr,
206 template<
typename DurationT = std::milli,
typename CallbackT>
211 rclcpp::callback_group::CallbackGroup::SharedPtr group =
nullptr);
214 template<
typename ServiceT>
219 rclcpp::callback_group::CallbackGroup::SharedPtr group =
nullptr);
222 template<
typename ServiceT,
typename CallbackT>
226 CallbackT && callback,
228 rclcpp::callback_group::CallbackGroup::SharedPtr group =
nullptr);
235 rcl_interfaces::msg::SetParametersResult
252 template<
typename ParameterT>
265 rcl_interfaces::msg::ListParametersResult
274 template<
typename CallbackT>
296 rclcpp::event::Event::SharedPtr
310 rclcpp::event::Event::SharedPtr event,
315 rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
320 rclcpp::node_interfaces::NodeGraphInterface::SharedPtr
325 rclcpp::node_interfaces::NodeTimersInterface::SharedPtr
330 rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr
335 rclcpp::node_interfaces::NodeServicesInterface::SharedPtr
340 rclcpp::node_interfaces::NodeParametersInterface::SharedPtr
348 group_in_node(callback_group::CallbackGroup::SharedPtr group);
350 rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
351 rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_;
352 rclcpp::node_interfaces::NodeTimersInterface::SharedPtr node_timers_;
353 rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_;
354 rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_;
355 rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters_;
357 bool use_intra_process_comms_;
363 #ifndef RCLCPP__NODE_IMPL_HPP_ 368 #endif // RCLCPP__NODE_HPP_
const std::vector< rclcpp::callback_group::CallbackGroup::WeakPtr > & get_callback_groups() const
Return the list of callback groups in the node.
rclcpp::node_interfaces::NodeServicesInterface::SharedPtr get_node_services_interface()
Return the Node's internal NodeServicesInterface implementation.
Definition: client.hpp:111
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.
Definition: node_impl.hpp:57
std::vector< rcl_interfaces::msg::SetParametersResult > set_parameters(const std::vector< rclcpp::parameter::ParameterVariant > ¶meters)
#define RCLCPP_DISABLE_COPY(...)
Definition: macros.hpp:26
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.
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.
Definition: node_impl.hpp:88
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr get_node_base_interface()
Return the Node's internal NodeBaseInterface implementation.
CallbackGroupType
Definition: callback_group.hpp:43
Generic timer templated on the clock type. Periodically executes a user-specified callback...
Definition: timer.hpp:103
Node(const std::string &node_name, bool use_intra_process_comms=false)
Create a new node with the specified name.
rclcpp::node_interfaces::NodeGraphInterface::SharedPtr get_node_graph_interface()
Return the Node's internal NodeGraphInterface implementation.
Definition: allocator_common.hpp:24
std::vector< rclcpp::parameter::ParameterVariant > get_parameters(const std::vector< std::string > &names) const
const char * get_name() const
Get the name of the node.
Node is the single point of entry for creating publishers and subscribers.
Definition: node.hpp:62
Subscription implementation, templated on the type of message this subscription receives.
Definition: subscription.hpp:122
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)
Definition: node_impl.hpp:183
#define RCLCPP_SMART_PTR_DEFINITIONS(...)
Definition: macros.hpp:36
Definition: service.hpp:83
std::vector< rcl_interfaces::msg::ParameterDescriptor > describe_parameters(const std::vector< std::string > &names) const
rcl_interfaces::msg::SetParametersResult set_parameters_atomically(const std::vector< rclcpp::parameter::ParameterVariant > ¶meters)
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)
void register_param_change_callback(CallbackT &&callback)
Register the callback for parameter changes.
Definition: node_impl.hpp:205
A publisher publishes messages of any type to a topic.
Definition: publisher.hpp:146
Default allocation strategy for messages received by subscriptions.
Definition: message_memory_strategy.hpp:33
size_t count_subscribers(const std::string &topic_name) const
size_t count_publishers(const std::string &topic_name) const
std::vector< uint8_t > get_parameter_types(const std::vector< std::string > &names) const
#define RCLCPP_PUBLIC
Definition: visibility_control.hpp:50
rclcpp::callback_group::CallbackGroup::SharedPtr create_callback_group(rclcpp::callback_group::CallbackGroupType group_type)
Create and return a callback group.
std::map< std::string, std::string > get_topic_names_and_types() const
rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr get_node_topics_interface()
Return the Node's internal NodeTopicsInterface implementation.
rcl_interfaces::msg::ListParametersResult list_parameters(const std::vector< std::string > &prefixes, uint64_t depth) const
rclcpp::node_interfaces::NodeTimersInterface::SharedPtr get_node_timers_interface()
Return the Node's internal NodeTimersInterface implementation.
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.
Definition: node_impl.hpp:145
rclcpp::parameter::ParameterVariant get_parameter(const std::string &name) const
rclcpp::node_interfaces::NodeParametersInterface::SharedPtr get_node_parameters_interface()
Return the Node's internal NodeParametersInterface implementation.
rclcpp::event::Event::SharedPtr get_graph_event()
Return a graph event, which will be set anytime a graph change occurs.
Definition: parameter.hpp:45