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, bool enable_topic_statistics_default)

virtual	~NodeBase ()

const char *	get_name () const override
	Return the name of the node. More...

const char *	get_namespace () const override
	Return the namespace of the node. More...

const char *	get_fully_qualified_name () const override
	Return the fully qualified name of the node. More...

rclcpp::Context::SharedPtr	get_context () override
	Return the context of the node. More...

rcl_node_t *	get_rcl_node_handle () override
	Return the rcl_node_t node handle (non-const version). More...

const rcl_node_t *	get_rcl_node_handle () const override
	Return the rcl_node_t node handle (const version). More...

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

std::shared_ptr< const rcl_node_t >	get_shared_rcl_node_handle () const override
	Return the rcl_node_t node handle in a std::shared_ptr. More...

rclcpp::CallbackGroup::SharedPtr	create_callback_group (rclcpp::CallbackGroupType group_type, bool automatically_add_to_executor_with_node=true) override
	Create and return a callback group. More...

rclcpp::CallbackGroup::SharedPtr	get_default_callback_group () override
	Return the default callback group. More...

bool	callback_group_in_node (rclcpp::CallbackGroup::SharedPtr group) override
	Return true if the given callback group is associated with this node. More...

const std::vector< rclcpp::CallbackGroup::WeakPtr > &	get_callback_groups () const override
	Return list of callback groups associated with this node. More...

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

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

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

bool	get_use_intra_process_default () const override
	Return the default preference for using intra process communication. More...

bool	get_enable_topic_statistics_default () const override
	Return the default preference for enabling topic statistics collection. More...

std::string	resolve_topic_or_service_name (const std::string &name, bool is_service, bool only_expand=false) const override
	Expand and remap a given topic or service name. 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,
		bool	enable_topic_statistics_default
	)

◆ ~NodeBase()

virtual rclcpp::node_interfaces::NodeBase::~NodeBase ( )

virtual

Member Function Documentation

◆ get_name()

const char* rclcpp::node_interfaces::NodeBase::get_name ( ) const

overridevirtual

Return the name of the node.

Returns: The name of the node.

Implements rclcpp::node_interfaces::NodeBaseInterface.

◆ get_namespace()

const char* rclcpp::node_interfaces::NodeBase::get_namespace ( ) const

overridevirtual

Return the namespace of the node.

Returns: The namespace of the node.

Implements rclcpp::node_interfaces::NodeBaseInterface.

◆ get_fully_qualified_name()

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

overridevirtual

Return the fully qualified name of the node.

Returns: The fully qualified name of the node.

Implements rclcpp::node_interfaces::NodeBaseInterface.

◆ get_context()

rclcpp::Context::SharedPtr rclcpp::node_interfaces::NodeBase::get_context ( )

overridevirtual

Return the context of the node.

Returns: SharedPtr to the node's context.

Implements rclcpp::node_interfaces::NodeBaseInterface.

◆ get_rcl_node_handle() [1/2]

rcl_node_t* rclcpp::node_interfaces::NodeBase::get_rcl_node_handle ( )

overridevirtual

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

Implements rclcpp::node_interfaces::NodeBaseInterface.

◆ get_rcl_node_handle() [2/2]

const rcl_node_t* rclcpp::node_interfaces::NodeBase::get_rcl_node_handle ( ) const

overridevirtual

Return the rcl_node_t node handle (const version).

Implements rclcpp::node_interfaces::NodeBaseInterface.

◆ get_shared_rcl_node_handle() [1/2]

std::shared_ptr<rcl_node_t> rclcpp::node_interfaces::NodeBase::get_shared_rcl_node_handle ( )

overridevirtual

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]

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

overridevirtual

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.

◆ create_callback_group()

rclcpp::CallbackGroup::SharedPtr rclcpp::node_interfaces::NodeBase::create_callback_group	(	rclcpp::CallbackGroupType	group_type,
		bool	automatically_add_to_executor_with_node = `true`
	)

overridevirtual

Create and return a callback group.

Implements rclcpp::node_interfaces::NodeBaseInterface.

◆ get_default_callback_group()

rclcpp::CallbackGroup::SharedPtr rclcpp::node_interfaces::NodeBase::get_default_callback_group ( )

overridevirtual

Return the default callback group.

Implements rclcpp::node_interfaces::NodeBaseInterface.

◆ callback_group_in_node()

bool rclcpp::node_interfaces::NodeBase::callback_group_in_node ( rclcpp::CallbackGroup::SharedPtr group )

overridevirtual

Return true if the given callback group is associated with this node.

Implements rclcpp::node_interfaces::NodeBaseInterface.

◆ get_callback_groups()

const std::vector<rclcpp::CallbackGroup::WeakPtr>& rclcpp::node_interfaces::NodeBase::get_callback_groups ( ) const

overridevirtual

Return list of callback groups associated with this node.

Implements rclcpp::node_interfaces::NodeBaseInterface.

◆ get_associated_with_executor_atomic()

std::atomic_bool& rclcpp::node_interfaces::NodeBase::get_associated_with_executor_atomic ( )

overridevirtual

Return the atomic bool which is used to ensure only one executor is used.

Implements rclcpp::node_interfaces::NodeBaseInterface.

◆ get_notify_guard_condition()

rcl_guard_condition_t* rclcpp::node_interfaces::NodeBase::get_notify_guard_condition ( )

overridevirtual

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()

std::unique_lock<std::recursive_mutex> rclcpp::node_interfaces::NodeBase::acquire_notify_guard_condition_lock ( ) const

overridevirtual

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()

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

overridevirtual

Return the default preference for using intra process communication.

Implements rclcpp::node_interfaces::NodeBaseInterface.

◆ get_enable_topic_statistics_default()

bool rclcpp::node_interfaces::NodeBase::get_enable_topic_statistics_default ( ) const

overridevirtual

Return the default preference for enabling topic statistics collection.

Implements rclcpp::node_interfaces::NodeBaseInterface.

◆ resolve_topic_or_service_name()

std::string rclcpp::node_interfaces::NodeBase::resolve_topic_or_service_name	(	const std::string &	name,
		bool	is_service,
		bool	only_expand = `false`
	)		const

overridevirtual

Expand and remap a given topic or service name.

Implements rclcpp::node_interfaces::NodeBaseInterface.

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

include/rclcpp/node_interfaces/node_base.hpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ NodeBase()

◆ ~NodeBase()

Member Function Documentation

◆ get_name()

◆ get_namespace()

◆ get_fully_qualified_name()

◆ get_context()

◆ get_rcl_node_handle() [1/2]

◆ get_rcl_node_handle() [2/2]

◆ get_shared_rcl_node_handle() [1/2]

◆ get_shared_rcl_node_handle() [2/2]

◆ create_callback_group()

◆ get_default_callback_group()

◆ callback_group_in_node()

◆ get_callback_groups()

◆ get_associated_with_executor_atomic()

◆ get_notify_guard_condition()

◆ acquire_notify_guard_condition_lock()

◆ get_use_intra_process_default()

◆ get_enable_topic_statistics_default()

◆ resolve_topic_or_service_name()