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:

Collaboration diagram for rclcpp::node_interfaces::NodeBase:

Public Member Functions
	NodeBase (const std::string &node_name, const std::string &namespace_, rclcpp::Context::SharedPtr context, const rcl_node_options_t &rcl_node_options, bool use_intra_process_default)
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 const char *	get_fully_qualified_name () const
	Return the fully qualified name of the node. More...
virtual rclcpp::Context::SharedPtr	get_context ()
	Return the context of the node. More...
virtual rcl_node_t *	get_rcl_node_handle ()
	Return the rcl_node_t node handle (non-const version). More...
virtual const rcl_node_t *	get_rcl_node_handle () const
	Return the rcl_node_t node handle (const version). More...
virtual std::shared_ptr< rcl_node_t >	get_shared_rcl_node_handle ()
	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
	Return the rcl_node_t node handle in a std::shared_ptr. More...
virtual bool	assert_liveliness () const
	Manually assert that this Node is alive (for RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE). 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_t *	get_notify_guard_condition ()
	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
	Acquire and return a scoped lock that protects the notify guard condition. More...
virtual bool	get_use_intra_process_default () const
	Return the default preference for using intra process communication. More...
Public Member Functions inherited from rclcpp::node_interfaces::NodeBaseInterface
virtual	~NodeBaseInterface ()=default

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,
		const rcl_node_options_t &	rcl_node_options,
		bool	use_intra_process_default
	)

~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_fully_qualified_name()

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

virtual

Return the fully qualified name of the node.

Returns

The fully qualified name 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.

assert_liveliness()

virtual bool rclcpp::node_interfaces::NodeBase::assert_liveliness ( ) const

virtual

Manually assert that this Node is alive (for RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE).

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.

get_use_intra_process_default()

virtual bool rclcpp::node_interfaces::NodeBase::get_use_intra_process_default ( ) const

virtual

Return the default preference for using intra process communication.

Implements rclcpp::node_interfaces::NodeBaseInterface.

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

• include/rclcpp/node_interfaces/node_base.hpp