Pure virtual interface class for the NodeBase part of the Node API. More...

#include <node_base_interface.hpp>

Inheritance diagram for rclcpp::node_interfaces::NodeBaseInterface:

Public Member Functions
virtual const char *	get_name () const =0
	Return the name of the node. More...

virtual const char *	get_namespace () const =0
	Return the namespace of the node. More...

virtual rclcpp::Context::SharedPtr	get_context ()=0
	Return the context of the node. More...

virtual rcl_node_t *	get_rcl_node_handle ()=0
	Return the rcl_node_t node handle (non-const version). More...

virtual const rcl_node_t *	get_rcl_node_handle () const =0
	Return the rcl_node_t node handle (const version). More...

virtual std::shared_ptr< rcl_node_t >	get_shared_rcl_node_handle ()=0
	Return the rcl_node_t node handle in a std::shared_ptr. More...

virtual std::shared_ptr< const rcl_node_t >	get_shared_rcl_node_handle () const =0
	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)=0
	Create and return a callback group. More...

virtual rclcpp::callback_group::CallbackGroup::SharedPtr	get_default_callback_group ()=0
	Return the default callback group. More...

virtual bool	callback_group_in_node (rclcpp::callback_group::CallbackGroup::SharedPtr group)=0
	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 =0
	Return list of callback groups associated with this node. More...

virtual std::atomic_bool &	get_associated_with_executor_atomic ()=0
	Return the atomic bool which is used to ensure only one executor is used. More...

virtual rcl_guard_condition_t *	get_notify_guard_condition ()=0
	Return guard condition that should be notified when the internal node state changes. More...

virtual std::unique_lock< std::recursive_mutex >	acquire_notify_guard_condition_lock () const =0
	Acquire and return a scoped lock that protects the notify guard condition. More...

Detailed Description

Pure virtual interface class for the NodeBase part of the Node API.

Member Function Documentation

◆ get_name()

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

pure virtual

Return the name of the node.

Returns: The name of the node.

Implemented in rclcpp::node_interfaces::NodeBase.

◆ get_namespace()

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

pure virtual

Return the namespace of the node.

Returns: The namespace of the node.

Implemented in rclcpp::node_interfaces::NodeBase.

◆ get_context()

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

pure virtual

Return the context of the node.

Returns: SharedPtr to the node's context.

Implemented in rclcpp::node_interfaces::NodeBase.

◆ get_rcl_node_handle() [1/2]

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

pure virtual

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

Implemented in rclcpp::node_interfaces::NodeBase.

◆ get_rcl_node_handle() [2/2]

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

pure virtual

Return the rcl_node_t node handle (const version).

Implemented in rclcpp::node_interfaces::NodeBase.

◆ get_shared_rcl_node_handle() [1/2]

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

pure 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.

Implemented in rclcpp::node_interfaces::NodeBase.

◆ get_shared_rcl_node_handle() [2/2]

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

pure 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.

Implemented in rclcpp::node_interfaces::NodeBase.

◆ create_callback_group()

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

pure virtual

Create and return a callback group.

Implemented in rclcpp::node_interfaces::NodeBase.