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C++ ROS Client Library API
node_timers_interface.hpp
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1 // Copyright 2016 Open Source Robotics Foundation, Inc.
2 //
3 // Licensed under the Apache License, Version 2.0 (the "License");
4 // you may not use this file except in compliance with the License.
5 // You may obtain a copy of the License at
6 //
7 // http://www.apache.org/licenses/LICENSE-2.0
8 //
9 // Unless required by applicable law or agreed to in writing, software
10 // distributed under the License is distributed on an "AS IS" BASIS,
11 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12 // See the License for the specific language governing permissions and
13 // limitations under the License.
14 
15 #ifndef RCLCPP__NODE_INTERFACES__NODE_TIMERS_INTERFACE_HPP_
16 #define RCLCPP__NODE_INTERFACES__NODE_TIMERS_INTERFACE_HPP_
17 
19 #include "rclcpp/macros.hpp"
20 #include "rclcpp/timer.hpp"
22 
23 namespace rclcpp
24 {
25 namespace node_interfaces
26 {
27 
30 {
31 public:
33 
35  virtual
36  ~NodeTimersInterface() = default;
37 
40  virtual
41  void
42  add_timer(
43  rclcpp::TimerBase::SharedPtr timer,
44  rclcpp::callback_group::CallbackGroup::SharedPtr callback_group) = 0;
45 };
46 
47 } // namespace node_interfaces
48 } // namespace rclcpp
49 
50 #endif // RCLCPP__NODE_INTERFACES__NODE_TIMERS_INTERFACE_HPP_
#define RCLCPP_SMART_PTR_ALIASES_ONLY(...)
Definition: macros.hpp:66
This header provides the get_node_topics_interface() template function.
Definition: allocator_common.hpp:24
virtual void add_timer(rclcpp::TimerBase::SharedPtr timer, rclcpp::callback_group::CallbackGroup::SharedPtr callback_group)=0
Add a timer to the node.
Pure virtual interface class for the NodeTimers part of the Node API.
Definition: node_timers_interface.hpp:29
#define RCLCPP_PUBLIC
Definition: visibility_control.hpp:50