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" 62 class Node :
public std::enable_shared_from_this<Node>
76 const std::string & node_name,
77 const std::string & namespace_ =
"",
78 bool use_intra_process_comms =
false);
90 const std::string & node_name,
91 const std::string & namespace_,
92 rclcpp::context::Context::SharedPtr context,
93 bool use_intra_process_comms =
false);
112 rclcpp::callback_group::CallbackGroup::SharedPtr
117 const std::vector<rclcpp::callback_group::CallbackGroup::WeakPtr> &
128 typename MessageT,
typename Alloc = std::allocator<void>,
130 std::shared_ptr<PublisherT>
132 const std::string & topic_name,
size_t qos_history_depth,
133 std::shared_ptr<Alloc> allocator =
nullptr);
143 typename MessageT,
typename Alloc = std::allocator<void>,
145 std::shared_ptr<PublisherT>
147 const std::string & topic_name,
149 std::shared_ptr<Alloc> allocator =
nullptr);
169 typename Alloc = std::allocator<void>,
171 std::shared_ptr<SubscriptionT>
173 const std::string & topic_name,
174 CallbackT && callback,
176 rclcpp::callback_group::CallbackGroup::SharedPtr group =
nullptr,
177 bool ignore_local_publications =
false,
179 msg_mem_strat =
nullptr,
180 std::shared_ptr<Alloc> allocator =
nullptr);
200 typename Alloc = std::allocator<void>,
202 std::shared_ptr<SubscriptionT>
204 const std::string & topic_name,
205 size_t qos_history_depth,
206 CallbackT && callback,
207 rclcpp::callback_group::CallbackGroup::SharedPtr group =
nullptr,
208 bool ignore_local_publications =
false,
210 msg_mem_strat =
nullptr,
211 std::shared_ptr<Alloc> allocator =
nullptr);
219 template<
typename DurationT = std::milli,
typename CallbackT>
222 std::chrono::duration<int64_t, DurationT> period,
224 rclcpp::callback_group::CallbackGroup::SharedPtr group =
nullptr);
227 template<
typename ServiceT>
230 const std::string & service_name,
232 rclcpp::callback_group::CallbackGroup::SharedPtr group =
nullptr);
235 template<
typename ServiceT,
typename CallbackT>
238 const std::string & service_name,
239 CallbackT && callback,
241 rclcpp::callback_group::CallbackGroup::SharedPtr group =
nullptr);
244 std::vector<rcl_interfaces::msg::SetParametersResult>
245 set_parameters(
const std::vector<rclcpp::parameter::ParameterVariant> & parameters);
248 rcl_interfaces::msg::SetParametersResult
251 template<
typename ParameterT>
254 const std::string & name,
255 const ParameterT & value);
258 std::vector<rclcpp::parameter::ParameterVariant>
268 const std::string & name,
279 template<
typename ParameterT>
281 get_parameter(
const std::string & name, ParameterT & parameter)
const;
294 template<
typename ParameterT>
297 const std::string & name,
299 const ParameterT & alternative_value)
const;
302 std::vector<rcl_interfaces::msg::ParameterDescriptor>
310 rcl_interfaces::msg::ListParametersResult
311 list_parameters(
const std::vector<std::string> & prefixes, uint64_t depth)
const;
319 template<
typename CallbackT>
324 std::map<std::string, std::vector<std::string>>
328 std::map<std::string, std::vector<std::string>>
345 rclcpp::event::Event::SharedPtr
359 rclcpp::event::Event::SharedPtr event,
360 std::chrono::nanoseconds timeout);
364 rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
369 rclcpp::node_interfaces::NodeGraphInterface::SharedPtr
374 rclcpp::node_interfaces::NodeTimersInterface::SharedPtr
379 rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr
384 rclcpp::node_interfaces::NodeServicesInterface::SharedPtr
389 rclcpp::node_interfaces::NodeParametersInterface::SharedPtr
397 group_in_node(callback_group::CallbackGroup::SharedPtr group);
399 rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
400 rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_;
401 rclcpp::node_interfaces::NodeTimersInterface::SharedPtr node_timers_;
402 rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_;
403 rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_;
404 rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters_;
406 bool use_intra_process_comms_;
412 #ifndef RCLCPP__NODE_IMPL_HPP_ 417 #endif // RCLCPP__NODE_HPP_ void set_parameter_if_not_set(const std::string &name, const ParameterT &value)
Definition: node_impl.hpp:212
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
std::vector< rcl_interfaces::msg::SetParametersResult > set_parameters(const std::vector< rclcpp::parameter::ParameterVariant > ¶meters)
rclcpp::callback_group::CallbackGroup::SharedPtr create_callback_group(rclcpp::callback_group::CallbackGroupType group_type)
Create and return a callback group.
Default allocation strategy for messages received by subscriptions.
Definition: message_memory_strategy.hpp:33
size_t count_subscribers(const std::string &topic_name) const
Subscription implementation, templated on the type of message this subscription receives.
Definition: subscription.hpp:124
Definition: service.hpp:89
#define RCLCPP_DISABLE_COPY(...)
Definition: macros.hpp:26
std::vector< rclcpp::parameter::ParameterVariant > get_parameters(const std::vector< std::string > &names) const
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
CallbackGroupType
Definition: callback_group.hpp:43
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)
const std::vector< rclcpp::callback_group::CallbackGroup::WeakPtr > & get_callback_groups() const
Return the list of callback groups in the node.
Definition: allocator_common.hpp:24
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.
size_t count_publishers(const std::string &topic_name) const
rcl_interfaces::msg::SetParametersResult set_parameters_atomically(const std::vector< rclcpp::parameter::ParameterVariant > ¶meters)
std::vector< rcl_interfaces::msg::ParameterDescriptor > describe_parameters(const std::vector< std::string > &names) const
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr get_node_base_interface()
Return the Node's internal NodeBaseInterface implementation.
std::vector< uint8_t > get_parameter_types(const std::vector< std::string > &names) const
#define RCLCPP_SMART_PTR_DEFINITIONS(...)
Definition: macros.hpp:36
Node is the single point of entry for creating publishers and subscribers.
Definition: node.hpp:62
rclcpp::node_interfaces::NodeGraphInterface::SharedPtr get_node_graph_interface()
Return the Node's internal NodeGraphInterface implementation.
bool get_parameter_or(const std::string &name, ParameterT &value, const ParameterT &alternative_value) const
Get the parameter value, or the "alternative value" if not set, and assign it to "value".
Definition: node_impl.hpp:239
rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr get_node_topics_interface()
Return the Node's internal NodeTopicsInterface implementation.
rclcpp::node_interfaces::NodeTimersInterface::SharedPtr get_node_timers_interface()
Return the Node's internal NodeTimersInterface implementation.
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
Node(const std::string &node_name, const std::string &namespace_="", bool use_intra_process_comms=false)
Create a new node with the specified name.
#define RCLCPP_PUBLIC
Definition: visibility_control.hpp:50
rcl_interfaces::msg::ListParametersResult list_parameters(const std::vector< std::string > &prefixes, uint64_t depth) const
Generic timer templated on the clock type. Periodically executes a user-specified callback...
Definition: timer.hpp:107
const char * get_name() const
Get the name of the node.
Definition: parameter.hpp:45
Definition: client.hpp:113
std::map< std::string, std::vector< std::string > > get_service_names_and_types() const
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.
void register_param_change_callback(CallbackT &&callback)
Register the callback for parameter changes.
Definition: node_impl.hpp:205
rclcpp::node_interfaces::NodeServicesInterface::SharedPtr get_node_services_interface()
Return the Node's internal NodeServicesInterface implementation.
A publisher publishes messages of any type to a topic.
Definition: publisher.hpp:146
std::map< std::string, std::vector< std::string > > get_topic_names_and_types() const
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
const char * get_namespace() const
Get the namespace of the node.