rclcpp_components::ComponentManager Class Reference

ComponentManager handles the services to load, unload, and get the list of loaded components. More...

#include <component_manager.hpp>

Inheritance diagram for rclcpp_components::ComponentManager:

Collaboration diagram for rclcpp_components::ComponentManager:

Public Types
using	LoadNode = composition_interfaces::srv::LoadNode
using	UnloadNode = composition_interfaces::srv::UnloadNode
using	ListNodes = composition_interfaces::srv::ListNodes
using	ComponentResource = std::pair< std::string, std::string >
	Represents a component resource. More...
Public Types inherited from rclcpp::Node
typedef rclcpp::node_interfaces::OnSetParametersCallbackHandle	OnSetParametersCallbackHandle
typedef rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType	OnParametersSetCallbackType

Public Member Functions
	ComponentManager (std::weak_ptr< rclcpp::Executor > executor, std::string node_name="ComponentManager", const rclcpp::NodeOptions &node_options=rclcpp::NodeOptions() .start_parameter_services(false) .start_parameter_event_publisher(false))
	Default constructor. More...
virtual	~ComponentManager ()
virtual std::vector< ComponentResource >	get_component_resources (const std::string &package_name, const std::string &resource_index="rclcpp_components") const
	Return a list of valid loadable components in a given package. More...
virtual std::shared_ptr< rclcpp_components::NodeFactory >	create_component_factory (const ComponentResource &resource)
	Instantiate a component from a dynamic library. More...
Public Member Functions inherited from rclcpp::Node
	Node (const std::string &node_name, const NodeOptions &options=NodeOptions())
	Node (const std::string &node_name, const std::string &namespace_, const NodeOptions &options=NodeOptions())
virtual	~Node ()
const char *	get_name () const
const char *	get_namespace () const
const char *	get_fully_qualified_name () const
rclcpp::Logger	get_logger () const
rclcpp::CallbackGroup::SharedPtr	create_callback_group (rclcpp::CallbackGroupType group_type, bool automatically_add_to_executor_with_node=true)
const std::vector< rclcpp::CallbackGroup::WeakPtr > &	get_callback_groups () const
std::shared_ptr< PublisherT >	create_publisher (const std::string &topic_name, const rclcpp::QoS &qos, const PublisherOptionsWithAllocator< AllocatorT > &options=PublisherOptionsWithAllocator< AllocatorT >())
std::shared_ptr< SubscriptionT >	create_subscription (const std::string &topic_name, const rclcpp::QoS &qos, CallbackT &&callback, const SubscriptionOptionsWithAllocator< AllocatorT > &options=SubscriptionOptionsWithAllocator< AllocatorT >(), typename MessageMemoryStrategyT::SharedPtr msg_mem_strat=(MessageMemoryStrategyT::create_default()))
rclcpp::WallTimer< CallbackT >::SharedPtr	create_wall_timer (std::chrono::duration< DurationRepT, DurationT > period, CallbackT callback, rclcpp::CallbackGroup::SharedPtr group=nullptr)
rclcpp::Client< ServiceT >::SharedPtr	create_client (const std::string &service_name, const rmw_qos_profile_t &qos_profile=rmw_qos_profile_services_default, rclcpp::CallbackGroup::SharedPtr group=nullptr)
rclcpp::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::CallbackGroup::SharedPtr group=nullptr)
std::shared_ptr< rclcpp::GenericPublisher >	create_generic_publisher (const std::string &topic_name, const std::string &topic_type, const rclcpp::QoS &qos, const rclcpp::PublisherOptionsWithAllocator< AllocatorT > &options=(rclcpp::PublisherOptionsWithAllocator< AllocatorT >()))
std::shared_ptr< rclcpp::GenericSubscription >	create_generic_subscription (const std::string &topic_name, const std::string &topic_type, const rclcpp::QoS &qos, std::function< void(std::shared_ptr< rclcpp::SerializedMessage >)> callback, const rclcpp::SubscriptionOptionsWithAllocator< AllocatorT > &options=(rclcpp::SubscriptionOptionsWithAllocator< AllocatorT >()))
const rclcpp::ParameterValue &	declare_parameter (const std::string &name, const rclcpp::ParameterValue &default_value, const rcl_interfaces::msg::ParameterDescriptor &parameter_descriptor=rcl_interfaces::msg::ParameterDescriptor(), bool ignore_override=false)
const rclcpp::ParameterValue &	declare_parameter (const std::string &name, rclcpp::ParameterType type, const rcl_interfaces::msg::ParameterDescriptor &parameter_descriptor=rcl_interfaces::msg::ParameterDescriptor{}, bool ignore_override=false)
const rclcpp::ParameterValue &	declare_parameter (const std::string &name)
auto	declare_parameter (const std::string &name, const ParameterT &default_value, const rcl_interfaces::msg::ParameterDescriptor &parameter_descriptor=rcl_interfaces::msg::ParameterDescriptor(), bool ignore_override=false)
auto	declare_parameter (const std::string &name, const rcl_interfaces::msg::ParameterDescriptor &parameter_descriptor=rcl_interfaces::msg::ParameterDescriptor(), bool ignore_override=false)
std::vector< ParameterT >	declare_parameters (const std::string &namespace_, const std::map< std::string, ParameterT > &parameters, bool ignore_overrides=false)
std::vector< ParameterT >	declare_parameters (const std::string &namespace_, const std::map< std::string, std::pair< ParameterT, rcl_interfaces::msg::ParameterDescriptor > > &parameters, bool ignore_overrides=false)
void	undeclare_parameter (const std::string &name)
bool	has_parameter (const std::string &name) const
rcl_interfaces::msg::SetParametersResult	set_parameter (const rclcpp::Parameter &parameter)
std::vector< rcl_interfaces::msg::SetParametersResult >	set_parameters (const std::vector< rclcpp::Parameter > &parameters)
rcl_interfaces::msg::SetParametersResult	set_parameters_atomically (const std::vector< rclcpp::Parameter > &parameters)
rclcpp::Parameter	get_parameter (const std::string &name) const
bool	get_parameter (const std::string &name, rclcpp::Parameter &parameter) const
bool	get_parameter (const std::string &name, ParameterT &parameter) const
bool	get_parameter_or (const std::string &name, ParameterT &parameter, const ParameterT &alternative_value) const
std::vector< rclcpp::Parameter >	get_parameters (const std::vector< std::string > &names) const
bool	get_parameters (const std::string &prefix, std::map< std::string, ParameterT > &values) const
rcl_interfaces::msg::ParameterDescriptor	describe_parameter (const std::string &name) const
std::vector< rcl_interfaces::msg::ParameterDescriptor >	describe_parameters (const std::vector< std::string > &names) const
std::vector< uint8_t >	get_parameter_types (const std::vector< std::string > &names) const
rcl_interfaces::msg::ListParametersResult	list_parameters (const std::vector< std::string > &prefixes, uint64_t depth) const
RCUTILS_WARN_UNUSED OnSetParametersCallbackHandle::SharedPtr	add_on_set_parameters_callback (OnParametersSetCallbackType callback)
void	remove_on_set_parameters_callback (const OnSetParametersCallbackHandle *const handler)
std::vector< std::string >	get_node_names () const
std::map< std::string, std::vector< std::string > >	get_topic_names_and_types () const
std::map< std::string, std::vector< std::string > >	get_service_names_and_types () const
std::map< std::string, std::vector< std::string > >	get_service_names_and_types_by_node (const std::string &node_name, const std::string &namespace_) const
size_t	count_publishers (const std::string &topic_name) const
size_t	count_subscribers (const std::string &topic_name) const
std::vector< rclcpp::TopicEndpointInfo >	get_publishers_info_by_topic (const std::string &topic_name, bool no_mangle=false) const
std::vector< rclcpp::TopicEndpointInfo >	get_subscriptions_info_by_topic (const std::string &topic_name, bool no_mangle=false) const
rclcpp::Event::SharedPtr	get_graph_event ()
void	wait_for_graph_change (rclcpp::Event::SharedPtr event, std::chrono::nanoseconds timeout)
rclcpp::Clock::SharedPtr	get_clock ()
rclcpp::Clock::ConstSharedPtr	get_clock () const
Time	now () const
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	get_node_base_interface ()
rclcpp::node_interfaces::NodeClockInterface::SharedPtr	get_node_clock_interface ()
rclcpp::node_interfaces::NodeGraphInterface::SharedPtr	get_node_graph_interface ()
rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr	get_node_logging_interface ()
rclcpp::node_interfaces::NodeTimersInterface::SharedPtr	get_node_timers_interface ()
rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr	get_node_topics_interface ()
rclcpp::node_interfaces::NodeServicesInterface::SharedPtr	get_node_services_interface ()
rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr	get_node_waitables_interface ()
rclcpp::node_interfaces::NodeParametersInterface::SharedPtr	get_node_parameters_interface ()
rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr	get_node_time_source_interface ()
const std::string &	get_sub_namespace () const
const std::string &	get_effective_namespace () const
rclcpp::Node::SharedPtr	create_sub_node (const std::string &sub_namespace)
const rclcpp::NodeOptions &	get_node_options () const
Client< ServiceT >::SharedPtr	create_client (const std::string &service_name, const rmw_qos_profile_t &qos_profile, rclcpp::CallbackGroup::SharedPtr group)

Protected Member Functions
virtual void	OnLoadNode (const std::shared_ptr< rmw_request_id_t > request_header, const std::shared_ptr< LoadNode::Request > request, std::shared_ptr< LoadNode::Response > response)
	Service callback to load a new node in the component. More...
virtual void	OnUnloadNode (const std::shared_ptr< rmw_request_id_t > request_header, const std::shared_ptr< UnloadNode::Request > request, std::shared_ptr< UnloadNode::Response > response)
	Service callback to unload a node in the component. More...
virtual void	OnListNodes (const std::shared_ptr< rmw_request_id_t > request_header, const std::shared_ptr< ListNodes::Request > request, std::shared_ptr< ListNodes::Response > response)
	Service callback to get the list of nodes in the component. More...
Protected Member Functions inherited from rclcpp::Node
	Node (const Node &other, const std::string &sub_namespace)

Detailed Description

ComponentManager handles the services to load, unload, and get the list of loaded components.

Member Typedef Documentation

LoadNode

using rclcpp_components::ComponentManager::LoadNode = composition_interfaces::srv::LoadNode

UnloadNode

using rclcpp_components::ComponentManager::UnloadNode = composition_interfaces::srv::UnloadNode

ListNodes

using rclcpp_components::ComponentManager::ListNodes = composition_interfaces::srv::ListNodes

ComponentResource

using rclcpp_components::ComponentManager::ComponentResource = std::pair<std::string, std::string>

Represents a component resource.

Is a pair of class name (for class loader) and library path (absolute)

Constructor & Destructor Documentation

ComponentManager()

rclcpp_components::ComponentManager::ComponentManager	(	std::weak_ptr< rclcpp::Executor >	executor,
		std::string	node_name = "ComponentManager",
		const rclcpp::NodeOptions &	node_options = rclcpp::NodeOptions() .start_parameter_services(false) .start_parameter_event_publisher(false)
	)

Default constructor.

Initializes the component manager. It creates the services: load node, unload node and list nodes.

Parameters

executor	the executor which will spin the node.
node_name	the name of the node that the data originates from.
node_options	additional options to control creation of the node.

~ComponentManager()

virtual rclcpp_components::ComponentManager::~ComponentManager ( )

virtual

Member Function Documentation

get_component_resources()

virtual std::vector<ComponentResource> rclcpp_components::ComponentManager::get_component_resources ( const std::string &  package_name, const std::string &  resource_index = "rclcpp_components"  ) const

virtual

Return a list of valid loadable components in a given package.

create_component_factory()

virtual std::shared_ptr<rclcpp_components::NodeFactory> rclcpp_components::ComponentManager::create_component_factory ( const ComponentResource &  resource )

virtual

Instantiate a component from a dynamic library.

OnLoadNode()

virtual void rclcpp_components::ComponentManager::OnLoadNode ( const std::shared_ptr< rmw_request_id_t >  request_header, const std::shared_ptr< LoadNode::Request >  request, std::shared_ptr< LoadNode::Response >  response  )

protectedvirtual

Service callback to load a new node in the component.

OnUnloadNode()

virtual void rclcpp_components::ComponentManager::OnUnloadNode ( const std::shared_ptr< rmw_request_id_t >  request_header, const std::shared_ptr< UnloadNode::Request >  request, std::shared_ptr< UnloadNode::Response >  response  )

protectedvirtual

Service callback to unload a node in the component.

OnListNodes()

virtual void rclcpp_components::ComponentManager::OnListNodes ( const std::shared_ptr< rmw_request_id_t >  request_header, const std::shared_ptr< ListNodes::Request >  request, std::shared_ptr< ListNodes::Response >  response  )

protectedvirtual

Service callback to get the list of nodes in the component.

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

• include/rclcpp_components/component_manager.hpp