LifecycleNode for creating lifecycle components. More...

#include <lifecycle_node.hpp>

Inheritance diagram for rclcpp_lifecycle::LifecycleNode:

Collaboration diagram for rclcpp_lifecycle::LifecycleNode:

Public Types
using	OnSetParametersCallbackHandle = rclcpp::node_interfaces::OnSetParametersCallbackHandle

using	OnParametersSetCallbackType = rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType

Public Types inherited from rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface
enum	CallbackReturn : uint8_t { CallbackReturn::SUCCESS = lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS, CallbackReturn::FAILURE = lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_FAILURE, CallbackReturn::ERROR = lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_ERROR }

Public Member Functions
	LifecycleNode (const std::string &node_name, const rclcpp::NodeOptions &options=rclcpp::NodeOptions(), bool enable_communication_interface=true)
	Create a new lifecycle node with the specified name. More...

	LifecycleNode (const std::string &node_name, const std::string &namespace_, const rclcpp::NodeOptions &options=rclcpp::NodeOptions(), bool enable_communication_interface=true)
	Create a node based on the node name and a rclcpp::Context. More...

virtual	~LifecycleNode ()

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

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

rclcpp::Logger	get_logger () const
	Get the logger of the node. More...

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

const std::vector< rclcpp::CallbackGroup::WeakPtr > &	get_callback_groups () const
	Return the list of callback groups in the node. More...

template<typename MessageT , typename AllocatorT = std::allocator<void>>
std::shared_ptr< rclcpp_lifecycle::LifecyclePublisher< MessageT, AllocatorT > >	create_publisher (const std::string &topic_name, const rclcpp::QoS &qos, const PublisherOptionsWithAllocator< AllocatorT > &options=(create_default_publisher_options< AllocatorT >()))
	Create and return a Publisher. More...

template<typename MessageT , typename CallbackT , typename AllocatorT = std::allocator<void>, typename CallbackMessageT = typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, typename SubscriptionT = rclcpp::Subscription<MessageT, AllocatorT>, typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy< CallbackMessageT, AllocatorT >>
std::shared_ptr< SubscriptionT >	create_subscription (const std::string &topic_name, const rclcpp::QoS &qos, CallbackT &&callback, const SubscriptionOptionsWithAllocator< AllocatorT > &options=create_default_subscription_options< AllocatorT >(), typename MessageMemoryStrategyT::SharedPtr msg_mem_strat=(MessageMemoryStrategyT::create_default()))
	Create and return a Subscription. More...

template<typename DurationRepT = int64_t, typename DurationT = std::milli, typename CallbackT >
rclcpp::WallTimer< CallbackT >::SharedPtr	create_wall_timer (std::chrono::duration< DurationRepT, DurationT > period, CallbackT callback, rclcpp::CallbackGroup::SharedPtr group=nullptr)
	Create a timer. More...

template<typename ServiceT >
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)
	Create and return a Client. More...

template<typename ServiceT , typename CallbackT >
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)
	Create and return a Service. More...

template<typename AllocatorT = std::allocator<void>>
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 >()))
	Create and return a GenericPublisher. More...

template<typename AllocatorT = std::allocator<void>>
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 >()))
	Create and return a GenericSubscription. More...

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)
	Declare and initialize a parameter, return the effective value. More...

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)
	Declare and initialize a parameter, return the effective value. More...

const rclcpp::ParameterValue &	declare_parameter (const std::string &name)
	Declare a parameter. More...

template<typename ParameterT >
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)
	Declare and initialize a parameter with a type. More...

template<typename ParameterT >
auto	declare_parameter (const std::string &name, const rcl_interfaces::msg::ParameterDescriptor &parameter_descriptor=rcl_interfaces::msg::ParameterDescriptor(), bool ignore_override=false)
	Declare and initialize a parameter with a type. More...

template<typename ParameterT >
std::vector< ParameterT >	declare_parameters (const std::string &namespace_, const std::map< std::string, ParameterT > &parameters)
	Declare and initialize several parameters with the same namespace and type. More...

template<typename ParameterT >
std::vector< ParameterT >	declare_parameters (const std::string &namespace_, const std::map< std::string, std::pair< ParameterT, rcl_interfaces::msg::ParameterDescriptor > > &parameters)
	Declare and initialize several parameters with the same namespace and type. More...

void	undeclare_parameter (const std::string &name)
	Undeclare a previously declared parameter. More...

bool	has_parameter (const std::string &name) const
	Return true if a given parameter is declared. More...

rcl_interfaces::msg::SetParametersResult	set_parameter (const rclcpp::Parameter &parameter)
	Set a single parameter. More...

std::vector< rcl_interfaces::msg::SetParametersResult >	set_parameters (const std::vector< rclcpp::Parameter > &parameters)
	Set one or more parameters, one at a time. More...

rcl_interfaces::msg::SetParametersResult	set_parameters_atomically (const std::vector< rclcpp::Parameter > &parameters)
	Set one or more parameters, all at once. More...

rclcpp::Parameter	get_parameter (const std::string &name) const
	Return the parameter by the given name. More...

bool	get_parameter (const std::string &name, rclcpp::Parameter &parameter) const
	Get the value of a parameter by the given name, and return true if it was set. More...

template<typename ParameterT >
bool	get_parameter (const std::string &name, ParameterT &parameter) const
	Get the value of a parameter by the given name, and return true if it was set. More...

template<typename ParameterT >
bool	get_parameter_or (const std::string &name, ParameterT &value, const ParameterT &alternative_value) const
	Get the parameter value, or the "alternative_value" if not set, and assign it to "parameter". More...

std::vector< rclcpp::Parameter >	get_parameters (const std::vector< std::string > &names) const
	Return the parameters by the given parameter names. More...

template<typename MapValueT >
bool	get_parameters (const std::string &prefix, std::map< std::string, MapValueT > &values) const
	Get the parameter values for all parameters that have a given prefix. More...

rcl_interfaces::msg::ParameterDescriptor	describe_parameter (const std::string &name) const
	Return the parameter descriptor for the given parameter name. More...

std::vector< rcl_interfaces::msg::ParameterDescriptor >	describe_parameters (const std::vector< std::string > &names) const
	Return a vector of parameter descriptors, one for each of the given names. More...

std::vector< uint8_t >	get_parameter_types (const std::vector< std::string > &names) const
	Return a vector of parameter types, one for each of the given names. More...

rcl_interfaces::msg::ListParametersResult	list_parameters (const std::vector< std::string > &prefixes, uint64_t depth) const
	Return a list of parameters with any of the given prefixes, up to the given depth. More...

RCUTILS_WARN_UNUSED rclcpp_lifecycle::LifecycleNode::OnSetParametersCallbackHandle::SharedPtr	add_on_set_parameters_callback (rclcpp_lifecycle::LifecycleNode::OnParametersSetCallbackType callback)
	Add a callback for when parameters are being set. More...

void	remove_on_set_parameters_callback (const rclcpp_lifecycle::LifecycleNode::OnSetParametersCallbackHandle *const handler)
	Remove a callback registered with `add_on_set_parameters_callback`. More...

std::vector< std::string >	get_node_names () const
	Return a vector of existing node names (string). More...

std::map< std::string, std::vector< std::string > >	get_topic_names_and_types (bool no_demangle=false) const
	Return a map of existing topic names to list of topic types. More...

std::map< std::string, std::vector< std::string > >	get_service_names_and_types () const
	Return a map of existing service names to list of topic types. More...

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
	Return a map of existing service names to list of service types for a specific node. More...

size_t	count_publishers (const std::string &topic_name) const
	Return the number of publishers that are advertised on a given topic. More...

size_t	count_subscribers (const std::string &topic_name) const
	Return the number of subscribers who have created a subscription for a given topic. More...

std::vector< rclcpp::TopicEndpointInfo >	get_publishers_info_by_topic (const std::string &topic_name, bool no_mangle=false) const
	Return the topic endpoint information about publishers on a given topic. More...

std::vector< rclcpp::TopicEndpointInfo >	get_subscriptions_info_by_topic (const std::string &topic_name, bool no_mangle=false) const
	Return the topic endpoint information about subscriptions on a given topic. More...

rclcpp::Event::SharedPtr	get_graph_event ()
	Return a graph event, which will be set anytime a graph change occurs. More...

void	wait_for_graph_change (rclcpp::Event::SharedPtr event, std::chrono::nanoseconds timeout)
	Wait for a graph event to occur by waiting on an Event to become set. More...

rclcpp::Clock::SharedPtr	get_clock ()
	Get a clock as a non-const shared pointer which is managed by the node. More...

rclcpp::Clock::ConstSharedPtr	get_clock () const
	Get a clock as a const shared pointer which is managed by the node. More...

rclcpp::Time	now () const
	Returns current time from the time source specified by clock_type. More...

rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	get_node_base_interface ()
	Return the Node's internal NodeBaseInterface implementation. More...

rclcpp::node_interfaces::NodeClockInterface::SharedPtr	get_node_clock_interface ()
	Return the Node's internal NodeClockInterface implementation. More...

rclcpp::node_interfaces::NodeGraphInterface::SharedPtr	get_node_graph_interface ()
	Return the Node's internal NodeGraphInterface implementation. More...

rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr	get_node_logging_interface ()
	Return the Node's internal NodeLoggingInterface implementation. More...

rclcpp::node_interfaces::NodeTimersInterface::SharedPtr	get_node_timers_interface ()
	Return the Node's internal NodeTimersInterface implementation. More...

rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr	get_node_topics_interface ()
	Return the Node's internal NodeTopicsInterface implementation. More...

rclcpp::node_interfaces::NodeServicesInterface::SharedPtr	get_node_services_interface ()
	Return the Node's internal NodeServicesInterface implementation. More...

rclcpp::node_interfaces::NodeParametersInterface::SharedPtr	get_node_parameters_interface ()
	Return the Node's internal NodeParametersInterface implementation. More...

rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr	get_node_time_source_interface ()
	Return the Node's internal NodeParametersInterface implementation. More...

rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr	get_node_waitables_interface ()
	Return the Node's internal NodeWaitablesInterface implementation. More...

const rclcpp::NodeOptions &	get_node_options () const
	Return the NodeOptions used when creating this node. More...

const State &	get_current_state ()
	Return the current State. More...

std::vector< State >	get_available_states ()
	Return a list with the available states. More...

std::vector< Transition >	get_available_transitions ()
	Return a list with the current available transitions. More...

std::vector< Transition >	get_transition_graph ()
	Return a list with all the transitions. More...

const State &	trigger_transition (const Transition &transition)
	Trigger the specified transition. More...

const State &	trigger_transition (const Transition &transition, LifecycleNodeInterface::CallbackReturn &cb_return_code)
	Trigger the specified transition and get the callback return code. More...

const State &	trigger_transition (uint8_t transition_id)
	Trigger the specified transition based on an id. More...

const State &	trigger_transition (uint8_t transition_id, LifecycleNodeInterface::CallbackReturn &cb_return_code)
	Trigger the specified transition based on an id and get the callback return code. More...

const State &	configure ()
	Trigger the configure transition. More...

const State &	configure (LifecycleNodeInterface::CallbackReturn &cb_return_code)
	Trigger the configure transition and get the callback return code. More...

const State &	cleanup ()
	Trigger the cleanup transition. More...

const State &	cleanup (LifecycleNodeInterface::CallbackReturn &cb_return_code)
	Trigger the cleanup transition and get the callback return code. More...

const State &	activate ()
	Trigger the activate transition. More...

const State &	activate (LifecycleNodeInterface::CallbackReturn &cb_return_code)
	Trigger the activate transition and get the callback return code. More...

const State &	deactivate ()
	Trigger the deactivate transition. More...

const State &	deactivate (LifecycleNodeInterface::CallbackReturn &cb_return_code)
	Trigger the deactivate transition and get the callback return code. More...

const State &	shutdown ()
	Trigger the shutdown transition. More...

const State &	shutdown (LifecycleNodeInterface::CallbackReturn &cb_return_code)
	Trigger the shutdown transition and get the callback return code. More...

bool	register_on_configure (std::function< LifecycleNodeInterface::CallbackReturn(const State &)> fcn)
	Register the configure callback. More...

bool	register_on_cleanup (std::function< LifecycleNodeInterface::CallbackReturn(const State &)> fcn)
	Register the cleanup callback. More...

bool	register_on_shutdown (std::function< LifecycleNodeInterface::CallbackReturn(const State &)> fcn)
	Register the shutdown callback. More...

bool	register_on_activate (std::function< LifecycleNodeInterface::CallbackReturn(const State &)> fcn)
	Register the activate callback. More...

bool	register_on_deactivate (std::function< LifecycleNodeInterface::CallbackReturn(const State &)> fcn)
	Register the deactivate callback. More...

bool	register_on_error (std::function< LifecycleNodeInterface::CallbackReturn(const State &)> fcn)
	Register the error callback. More...

template<typename MessageT , typename CallbackT , typename AllocatorT , typename CallbackMessageT , typename SubscriptionT , typename MessageMemoryStrategyT >
std::shared_ptr< SubscriptionT >	create_subscription (const std::string &topic_name, const rclcpp::QoS &qos, CallbackT &&callback, const rclcpp::SubscriptionOptionsWithAllocator< AllocatorT > &options, typename MessageMemoryStrategyT::SharedPtr msg_mem_strat)

Public Member Functions inherited from rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface
virtual CallbackReturn	on_configure (const State &previous_state)
	Callback function for configure transition. More...

virtual CallbackReturn	on_cleanup (const State &previous_state)
	Callback function for cleanup transition. More...

virtual CallbackReturn	on_shutdown (const State &previous_state)
	Callback function for shutdown transition. More...

virtual CallbackReturn	on_activate (const State &previous_state)
	Callback function for activate transition. More...

virtual CallbackReturn	on_deactivate (const State &previous_state)
	Callback function for deactivate transition. More...

virtual CallbackReturn	on_error (const State &previous_state)
	Callback function for errorneous transition. More...

virtual	~LifecycleNodeInterface ()

Public Member Functions inherited from std::enable_shared_from_this< LifecycleNode >
T	enable_shared_from_this (T... args)

T	operator= (T... args)

T	shared_from_this (T... args)

T	~enable_shared_from_this (T... args)

Protected Member Functions
void	add_publisher_handle (std::shared_ptr< rclcpp_lifecycle::LifecyclePublisherInterface > pub)

void	add_timer_handle (std::shared_ptr< rclcpp::TimerBase > timer)

Protected Member Functions inherited from rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface
	LifecycleNodeInterface ()

Detailed Description

LifecycleNode for creating lifecycle components.

has lifecycle nodeinterface for configuring this node.

Member Typedef Documentation

◆ OnSetParametersCallbackHandle

using rclcpp_lifecycle::LifecycleNode::OnSetParametersCallbackHandle = rclcpp::node_interfaces::OnSetParametersCallbackHandle

◆ OnParametersSetCallbackType

using rclcpp_lifecycle::LifecycleNode::OnParametersSetCallbackType = rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType

Constructor & Destructor Documentation

◆ LifecycleNode() [1/2]

rclcpp_lifecycle::LifecycleNode::LifecycleNode	(	const std::string &	node_name,
		const rclcpp::NodeOptions &	options = `rclcpp::NodeOptions()`,
		bool	enable_communication_interface = `true`
	)

explicit

Create a new lifecycle node with the specified name.

Parameters

[in]	node_name	Name of the node.
[in]	options	Additional options to control creation of the node.
[in]	enable_communication_interface	Deciding whether the communication interface of the underlying rcl_lifecycle_node shall be enabled.

◆ LifecycleNode() [2/2]

rclcpp_lifecycle::LifecycleNode::LifecycleNode	(	const std::string &	node_name,
		const std::string &	namespace_,
		const rclcpp::NodeOptions &	options = `rclcpp::NodeOptions()`,
		bool	enable_communication_interface = `true`
	)

Create a node based on the node name and a rclcpp::Context.

Parameters

[in]	node_name	Name of the node.
[in]	namespace_	Namespace of the node.
[in]	options	Additional options to control creation of the node.
[in]	enable_communication_interface	Deciding whether the communication interface of the underlying rcl_lifecycle_node shall be enabled.

◆ ~LifecycleNode()

virtual rclcpp_lifecycle::LifecycleNode::~LifecycleNode ( )

virtual

Member Function Documentation

◆ get_name()

const char* rclcpp_lifecycle::LifecycleNode::get_name ( ) const

Get the name of the node.

Returns: The name of the node.

◆ get_namespace()

const char* rclcpp_lifecycle::LifecycleNode::get_namespace ( ) const

Get the namespace of the node.

Returns: The namespace of the node.

◆ get_logger()

rclcpp::Logger rclcpp_lifecycle::LifecycleNode::get_logger ( ) const

Get the logger of the node.

Returns: The logger of the node.

◆ create_callback_group()

rclcpp::CallbackGroup::SharedPtr rclcpp_lifecycle::LifecycleNode::create_callback_group	(	rclcpp::CallbackGroupType	group_type,
		bool	automatically_add_to_executor_with_node = `true`
	)

Create and return a callback group.

Parameters

[in]	group_type	callback group type to create by this method.
[in]	automatically_add_to_executor_with_node	A boolean that determines whether a callback group is automatically added to an executor with the node with which it is associated.

Returns: a callback group

◆ get_callback_groups()

const std::vector<rclcpp::CallbackGroup::WeakPtr>& rclcpp_lifecycle::LifecycleNode::get_callback_groups ( ) const

Return the list of callback groups in the node.

Returns: list of callback groups in the node.

◆ create_publisher()

template<typename MessageT , typename AllocatorT >

std::shared_ptr< rclcpp_lifecycle::LifecyclePublisher< MessageT, AllocatorT > > rclcpp_lifecycle::LifecycleNode::create_publisher	(	const std::string &	topic_name,
		const rclcpp::QoS &	qos,
		const PublisherOptionsWithAllocator< AllocatorT > &	options = `( create_default_publisher_options<AllocatorT>() )`
	)

Create and return a Publisher.

Parameters

[in]	topic_name	The topic for this publisher to publish on.
[in]	qos	The Quality of Service settings for this publisher.
[in]	options	The publisher options for this publisher.

Returns: Shared pointer to the created lifecycle publisher.

◆ create_subscription() [1/2]

template<typename MessageT , typename CallbackT , typename AllocatorT = std::allocator<void>, typename CallbackMessageT = typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, typename SubscriptionT = rclcpp::Subscription<MessageT, AllocatorT>, typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy< CallbackMessageT, AllocatorT >>

std::shared_ptr<SubscriptionT> rclcpp_lifecycle::LifecycleNode::create_subscription	(	const std::string &	topic_name,
		const rclcpp::QoS &	qos,
		CallbackT &&	callback,
		const SubscriptionOptionsWithAllocator< AllocatorT > &	options = `create_default_subscription_options< AllocatorT >()`,
		typename MessageMemoryStrategyT::SharedPtr	msg_mem_strat = `(MessageMemoryStrategyT::create_default())`
	)

Create and return a Subscription.

Parameters

[in]	topic_name	The topic to subscribe on.
[in]	callback	The user-defined callback function.
[in]	qos	The quality of service for this subscription.
[in]	options	The subscription options for this subscription.
[in]	msg_mem_strat	The message memory strategy to use for allocating messages.

Returns: Shared pointer to the created subscription.

◆ create_wall_timer()

template<typename DurationRepT , typename DurationT , typename CallbackT >

rclcpp::WallTimer< CallbackT >::SharedPtr rclcpp_lifecycle::LifecycleNode::create_wall_timer	(	std::chrono::duration< DurationRepT, DurationT >	period,
		CallbackT	callback,
		rclcpp::CallbackGroup::SharedPtr	group = `nullptr`
	)

Create a timer.

Parameters

[in]	period	Time interval between triggers of the callback.
[in]	callback	User-defined callback function.
[in]	group	Callback group to execute this timer's callback in.

◆ create_client()

template<typename ServiceT >

rclcpp::Client< ServiceT >::SharedPtr rclcpp_lifecycle::LifecycleNode::create_client	(	const std::string &	service_name,
		const rmw_qos_profile_t &	qos_profile = `rmw_qos_profile_services_default`,
		rclcpp::CallbackGroup::SharedPtr	group = `nullptr`
	)

Create and return a Client.

See also: rclcpp::Node::create_client

◆ create_service()

template<typename ServiceT , typename CallbackT >

rclcpp::Service< ServiceT >::SharedPtr rclcpp_lifecycle::LifecycleNode::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`
	)

Create and return a Service.

See also: rclcpp::Node::create_service

◆ create_generic_publisher()

template<typename AllocatorT >

std::shared_ptr< rclcpp::GenericPublisher > rclcpp_lifecycle::LifecycleNode::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>() )`
	)

Create and return a GenericPublisher.

See also: rclcpp::Node::create_generic_publisher

◆ create_generic_subscription()

template<typename AllocatorT >

std::shared_ptr< rclcpp::GenericSubscription > rclcpp_lifecycle::LifecycleNode::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>() )`
	)

Create and return a GenericSubscription.

See also: rclcpp::Node::create_generic_subscription

◆ declare_parameter() [1/5]

const rclcpp::ParameterValue& rclcpp_lifecycle::LifecycleNode::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`
	)

Declare and initialize a parameter, return the effective value.

See also: rclcpp::Node::declare_parameter

◆ declare_parameter() [2/5]

const rclcpp::ParameterValue& rclcpp_lifecycle::LifecycleNode::declare_parameter	(	const std::string &	name,
		rclcpp::ParameterType	type,
		const rcl_interfaces::msg::ParameterDescriptor &	parameter_descriptor = `rcl_interfaces::msg::ParameterDescriptor{}`,
		bool	ignore_override = `false`
	)

Declare and initialize a parameter, return the effective value.

See also: rclcpp::Node::declare_parameter

◆ declare_parameter() [3/5]

const rclcpp::ParameterValue& rclcpp_lifecycle::LifecycleNode::declare_parameter ( const std::string & name )

Declare a parameter.

◆ declare_parameter() [4/5]

template<typename ParameterT >

auto rclcpp_lifecycle::LifecycleNode::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`
	)

Declare and initialize a parameter with a type.

See also: rclcpp::Node::declare_parameter

◆ declare_parameter() [5/5]

template<typename ParameterT >

auto rclcpp_lifecycle::LifecycleNode::declare_parameter	(	const std::string &	name,
		const rcl_interfaces::msg::ParameterDescriptor &	parameter_descriptor = `rcl_interfaces::msg::ParameterDescriptor()`,
		bool	ignore_override = `false`
	)

Declare and initialize a parameter with a type.

See the non-templated declare_parameter() on this class for details.

◆ declare_parameters() [1/2]

template<typename ParameterT >

std::vector< ParameterT > rclcpp_lifecycle::LifecycleNode::declare_parameters	(	const std::string &	namespace_,
		const std::map< std::string, ParameterT > &	parameters
	)

Declare and initialize several parameters with the same namespace and type.

See also: rclcpp::Node::declare_parameters

◆ declare_parameters() [2/2]

template<typename ParameterT >

std::vector< ParameterT > rclcpp_lifecycle::LifecycleNode::declare_parameters	(	const std::string &	namespace_,
		const std::map< std::string, std::pair< ParameterT, rcl_interfaces::msg::ParameterDescriptor > > &	parameters
	)

Declare and initialize several parameters with the same namespace and type.

See also: rclcpp::Node::declare_parameters

◆ undeclare_parameter()

void rclcpp_lifecycle::LifecycleNode::undeclare_parameter ( const std::string & name )

Undeclare a previously declared parameter.

See also: rclcpp::Node::undeclare_parameter

◆ has_parameter()

bool rclcpp_lifecycle::LifecycleNode::has_parameter ( const std::string & name ) const

Return true if a given parameter is declared.

See also: rclcpp::Node::has_parameter

◆ set_parameter()

rcl_interfaces::msg::SetParametersResult rclcpp_lifecycle::LifecycleNode::set_parameter ( const rclcpp::Parameter & parameter )

Set a single parameter.

See also: rclcpp::Node::set_parameter

◆ set_parameters()

std::vector<rcl_interfaces::msg::SetParametersResult> rclcpp_lifecycle::LifecycleNode::set_parameters ( const std::vector< rclcpp::Parameter > & parameters )

Set one or more parameters, one at a time.

See also: rclcpp::Node::set_parameters

◆ set_parameters_atomically()

rcl_interfaces::msg::SetParametersResult rclcpp_lifecycle::LifecycleNode::set_parameters_atomically ( const std::vector< rclcpp::Parameter > & parameters )

Set one or more parameters, all at once.

See also: rclcpp::Node::set_parameters_atomically

◆ get_parameter() [1/3]

rclcpp::Parameter rclcpp_lifecycle::LifecycleNode::get_parameter ( const std::string & name ) const

Return the parameter by the given name.

See also: rclcpp::Node::get_parameter

◆ get_parameter() [2/3]

bool rclcpp_lifecycle::LifecycleNode::get_parameter	(	const std::string &	name,
		rclcpp::Parameter &	parameter
	)		const

Get the value of a parameter by the given name, and return true if it was set.

See also: rclcpp::Node::get_parameter

◆ get_parameter() [3/3]

template<typename ParameterT >

bool rclcpp_lifecycle::LifecycleNode::get_parameter	(	const std::string &	name,
		ParameterT &	parameter
	)		const

Get the value of a parameter by the given name, and return true if it was set.

See also: rclcpp::Node::get_parameter

◆ get_parameter_or()

template<typename ParameterT >

bool rclcpp_lifecycle::LifecycleNode::get_parameter_or	(	const std::string &	name,
		ParameterT &	value,
		const ParameterT &	alternative_value
	)		const

Get the parameter value, or the "alternative_value" if not set, and assign it to "parameter".

See also: rclcpp::Node::get_parameter_or

◆ get_parameters() [1/2]

std::vector<rclcpp::Parameter> rclcpp_lifecycle::LifecycleNode::get_parameters ( const std::vector< std::string > & names ) const

Return the parameters by the given parameter names.

See also: rclcpp::Node::get_parameters

◆ get_parameters() [2/2]

template<typename MapValueT >

bool rclcpp_lifecycle::LifecycleNode::get_parameters	(	const std::string &	prefix,
		std::map< std::string, MapValueT > &	values
	)		const

Get the parameter values for all parameters that have a given prefix.

See also: rclcpp::Node::get_parameters

◆ describe_parameter()

rcl_interfaces::msg::ParameterDescriptor rclcpp_lifecycle::LifecycleNode::describe_parameter ( const std::string & name ) const

Return the parameter descriptor for the given parameter name.

See also: rclcpp::Node::describe_parameter

◆ describe_parameters()

std::vector<rcl_interfaces::msg::ParameterDescriptor> rclcpp_lifecycle::LifecycleNode::describe_parameters ( const std::vector< std::string > & names ) const

Return a vector of parameter descriptors, one for each of the given names.

See also: rclcpp::Node::describe_parameters

◆ get_parameter_types()

std::vector<uint8_t> rclcpp_lifecycle::LifecycleNode::get_parameter_types ( const std::vector< std::string > & names ) const

Return a vector of parameter types, one for each of the given names.

See also: rclcpp::Node::get_parameter_types

◆ list_parameters()

rcl_interfaces::msg::ListParametersResult rclcpp_lifecycle::LifecycleNode::list_parameters	(	const std::vector< std::string > &	prefixes,
		uint64_t	depth
	)		const

Return a list of parameters with any of the given prefixes, up to the given depth.

See also: rclcpp::Node::list_parameters

◆ add_on_set_parameters_callback()

RCUTILS_WARN_UNUSED rclcpp_lifecycle::LifecycleNode::OnSetParametersCallbackHandle::SharedPtr rclcpp_lifecycle::LifecycleNode::add_on_set_parameters_callback ( rclcpp_lifecycle::LifecycleNode::OnParametersSetCallbackType callback )

Add a callback for when parameters are being set.

See also: rclcpp::Node::add_on_set_parameters_callback

◆ remove_on_set_parameters_callback()

void rclcpp_lifecycle::LifecycleNode::remove_on_set_parameters_callback ( const rclcpp_lifecycle::LifecycleNode::OnSetParametersCallbackHandle *const handler )

Remove a callback registered with add_on_set_parameters_callback.

See also: rclcpp::Node::remove_on_set_parameters_callback

◆ get_node_names()

std::vector<std::string> rclcpp_lifecycle::LifecycleNode::get_node_names ( ) const

Return a vector of existing node names (string).

See also: rclcpp::Node::get_node_names

◆ get_topic_names_and_types()

std::map<std::string, std::vector<std::string> > rclcpp_lifecycle::LifecycleNode::get_topic_names_and_types ( bool no_demangle = false ) const

Return a map of existing topic names to list of topic types.

See also: rclcpp::Node::get_topic_names_and_types

◆ get_service_names_and_types()

std::map<std::string, std::vector<std::string> > rclcpp_lifecycle::LifecycleNode::get_service_names_and_types ( ) const

Return a map of existing service names to list of topic types.

See also: rclcpp::Node::get_service_names_and_types

◆ get_service_names_and_types_by_node()

std::map<std::string, std::vector<std::string> > rclcpp_lifecycle::LifecycleNode::get_service_names_and_types_by_node	(	const std::string &	node_name,
		const std::string &	namespace_
	)		const

Return a map of existing service names to list of service types for a specific node.

This function only considers services - not clients.

Parameters

[in]	node_name	name of the node
[in]	namespace_	namespace of the node

◆ count_publishers()

size_t rclcpp_lifecycle::LifecycleNode::count_publishers ( const std::string & topic_name ) const

Return the number of publishers that are advertised on a given topic.

See also: rclcpp::Node::count_publishers

◆ count_subscribers()

size_t rclcpp_lifecycle::LifecycleNode::count_subscribers ( const std::string & topic_name ) const

Return the number of subscribers who have created a subscription for a given topic.

See also: rclcpp::Node::count_subscribers

◆ get_publishers_info_by_topic()

std::vector<rclcpp::TopicEndpointInfo> rclcpp_lifecycle::LifecycleNode::get_publishers_info_by_topic	(	const std::string &	topic_name,
		bool	no_mangle = `false`
	)		const

Return the topic endpoint information about publishers on a given topic.

See also: rclcpp::Node::get_publishers_info_by_topic

◆ get_subscriptions_info_by_topic()

std::vector<rclcpp::TopicEndpointInfo> rclcpp_lifecycle::LifecycleNode::get_subscriptions_info_by_topic	(	const std::string &	topic_name,
		bool	no_mangle = `false`
	)		const

Return the topic endpoint information about subscriptions on a given topic.

See also: rclcpp::Node::get_subscriptions_info_by_topic

◆ get_graph_event()

rclcpp::Event::SharedPtr rclcpp_lifecycle::LifecycleNode::get_graph_event ( )

Return a graph event, which will be set anytime a graph change occurs.

◆ wait_for_graph_change()

void rclcpp_lifecycle::LifecycleNode::wait_for_graph_change	(	rclcpp::Event::SharedPtr	event,
		std::chrono::nanoseconds	timeout
	)

Wait for a graph event to occur by waiting on an Event to become set.

◆ get_clock() [1/2]

rclcpp::Clock::SharedPtr rclcpp_lifecycle::LifecycleNode::get_clock ( )

Get a clock as a non-const shared pointer which is managed by the node.

See also: rclcpp::node_interfaces::NodeClock::get_clock

◆ get_clock() [2/2]

rclcpp::Clock::ConstSharedPtr rclcpp_lifecycle::LifecycleNode::get_clock ( ) const

Get a clock as a const shared pointer which is managed by the node.

See also: rclcpp::node_interfaces::NodeClock::get_clock

◆ now()

rclcpp::Time rclcpp_lifecycle::LifecycleNode::now ( ) const

Returns current time from the time source specified by clock_type.

See also: rclcpp::Clock::now

◆ get_node_base_interface()

rclcpp::node_interfaces::NodeBaseInterface::SharedPtr rclcpp_lifecycle::LifecycleNode::get_node_base_interface ( )

Return the Node's internal NodeBaseInterface implementation.

See also: rclcpp::Node::get_node_base_interface

◆ get_node_clock_interface()

rclcpp::node_interfaces::NodeClockInterface::SharedPtr rclcpp_lifecycle::LifecycleNode::get_node_clock_interface ( )

Return the Node's internal NodeClockInterface implementation.

See also: rclcpp::Node::get_node_clock_interface

◆ get_node_graph_interface()

rclcpp::node_interfaces::NodeGraphInterface::SharedPtr rclcpp_lifecycle::LifecycleNode::get_node_graph_interface ( )

Return the Node's internal NodeGraphInterface implementation.

See also: rclcpp::Node::get_node_graph_interface

◆ get_node_logging_interface()

rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr rclcpp_lifecycle::LifecycleNode::get_node_logging_interface ( )

Return the Node's internal NodeLoggingInterface implementation.

See also: rclcpp::Node::get_node_logging_interface

◆ get_node_timers_interface()

rclcpp::node_interfaces::NodeTimersInterface::SharedPtr rclcpp_lifecycle::LifecycleNode::get_node_timers_interface ( )

Return the Node's internal NodeTimersInterface implementation.

See also: rclcpp::Node::get_node_timers_interface

◆ get_node_topics_interface()

rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr rclcpp_lifecycle::LifecycleNode::get_node_topics_interface ( )

Return the Node's internal NodeTopicsInterface implementation.

See also: rclcpp::Node::get_node_topics_interface

◆ get_node_services_interface()

rclcpp::node_interfaces::NodeServicesInterface::SharedPtr rclcpp_lifecycle::LifecycleNode::get_node_services_interface ( )

Return the Node's internal NodeServicesInterface implementation.

See also: rclcpp::Node::get_node_services_interface

◆ get_node_parameters_interface()

rclcpp::node_interfaces::NodeParametersInterface::SharedPtr rclcpp_lifecycle::LifecycleNode::get_node_parameters_interface ( )

Return the Node's internal NodeParametersInterface implementation.

See also: rclcpp::Node::get_node_parameters_interface

◆ get_node_time_source_interface()

rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr rclcpp_lifecycle::LifecycleNode::get_node_time_source_interface ( )

Return the Node's internal NodeParametersInterface implementation.

See also: rclcpp::Node::get_node_time_source_interface

◆ get_node_waitables_interface()

rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr rclcpp_lifecycle::LifecycleNode::get_node_waitables_interface ( )

Return the Node's internal NodeWaitablesInterface implementation.

See also: rclcpp::Node::get_node_waitables_interface

◆ get_node_options()

const rclcpp::NodeOptions& rclcpp_lifecycle::LifecycleNode::get_node_options ( ) const

Return the NodeOptions used when creating this node.

See also: rclcpp::Node::get_node_options

◆ get_current_state()

const State& rclcpp_lifecycle::LifecycleNode::get_current_state ( )

Return the current State.

Returns: the current state

◆ get_available_states()

std::vector<State> rclcpp_lifecycle::LifecycleNode::get_available_states ( )

Return a list with the available states.

Returns: list with the available states.

◆ get_available_transitions()

std::vector<Transition> rclcpp_lifecycle::LifecycleNode::get_available_transitions ( )

Return a list with the current available transitions.

Returns: list with the current available transitions.

◆ get_transition_graph()

std::vector<Transition> rclcpp_lifecycle::LifecycleNode::get_transition_graph ( )

Return a list with all the transitions.

Returns: list with all the transitions in the transition graph.

◆ trigger_transition() [1/4]

const State& rclcpp_lifecycle::LifecycleNode::trigger_transition ( const Transition & transition )

Trigger the specified transition.

◆ trigger_transition() [2/4]

const State& rclcpp_lifecycle::LifecycleNode::trigger_transition	(	const Transition &	transition,
		LifecycleNodeInterface::CallbackReturn &	cb_return_code
	)

Trigger the specified transition and get the callback return code.

◆ trigger_transition() [3/4]

const State& rclcpp_lifecycle::LifecycleNode::trigger_transition ( uint8_t transition_id )

Trigger the specified transition based on an id.

◆ trigger_transition() [4/4]

const State& rclcpp_lifecycle::LifecycleNode::trigger_transition	(	uint8_t	transition_id,
		LifecycleNodeInterface::CallbackReturn &	cb_return_code
	)

Trigger the specified transition based on an id and get the callback return code.

◆ configure() [1/2]

const State& rclcpp_lifecycle::LifecycleNode::configure ( )

Trigger the configure transition.

◆ configure() [2/2]

const State& rclcpp_lifecycle::LifecycleNode::configure ( LifecycleNodeInterface::CallbackReturn & cb_return_code )

Trigger the configure transition and get the callback return code.

◆ cleanup() [1/2]

const State& rclcpp_lifecycle::LifecycleNode::cleanup ( )

Trigger the cleanup transition.

◆ cleanup() [2/2]

const State& rclcpp_lifecycle::LifecycleNode::cleanup ( LifecycleNodeInterface::CallbackReturn & cb_return_code )

Trigger the cleanup transition and get the callback return code.

◆ activate() [1/2]

const State& rclcpp_lifecycle::LifecycleNode::activate ( )

Trigger the activate transition.

◆ activate() [2/2]

const State& rclcpp_lifecycle::LifecycleNode::activate ( LifecycleNodeInterface::CallbackReturn & cb_return_code )

Trigger the activate transition and get the callback return code.

◆ deactivate() [1/2]

const State& rclcpp_lifecycle::LifecycleNode::deactivate ( )

Trigger the deactivate transition.

◆ deactivate() [2/2]

const State& rclcpp_lifecycle::LifecycleNode::deactivate ( LifecycleNodeInterface::CallbackReturn & cb_return_code )

Trigger the deactivate transition and get the callback return code.

◆ shutdown() [1/2]

const State& rclcpp_lifecycle::LifecycleNode::shutdown ( )

Trigger the shutdown transition.

◆ shutdown() [2/2]

const State& rclcpp_lifecycle::LifecycleNode::shutdown ( LifecycleNodeInterface::CallbackReturn & cb_return_code )

Trigger the shutdown transition and get the callback return code.

◆ register_on_configure()

bool rclcpp_lifecycle::LifecycleNode::register_on_configure ( std::function< LifecycleNodeInterface::CallbackReturn(const State &)> fcn )

Register the configure callback.

This callback will be called when the transition to this state is triggered

Parameters

[in] fcn callback function to call

Returns: always true

◆ register_on_cleanup()

bool rclcpp_lifecycle::LifecycleNode::register_on_cleanup ( std::function< LifecycleNodeInterface::CallbackReturn(const State &)> fcn )

Register the cleanup callback.

This callback will be called when the transition to this state is triggered

Parameters

[in] fcn callback function to call

Returns: always true

◆ register_on_shutdown()

bool rclcpp_lifecycle::LifecycleNode::register_on_shutdown ( std::function< LifecycleNodeInterface::CallbackReturn(const State &)> fcn )

Register the shutdown callback.

This callback will be called when the transition to this state is triggered

Parameters

[in] fcn callback function to call

Returns: always true

◆ register_on_activate()

bool rclcpp_lifecycle::LifecycleNode::register_on_activate ( std::function< LifecycleNodeInterface::CallbackReturn(const State &)> fcn )

Register the activate callback.

This callback will be called when the transition to this state is triggered

Parameters

[in] fcn callback function to call

Returns: always true

◆ register_on_deactivate()

bool rclcpp_lifecycle::LifecycleNode::register_on_deactivate ( std::function< LifecycleNodeInterface::CallbackReturn(const State &)> fcn )

Register the deactivate callback.

This callback will be called when the transition to this state is triggered

Parameters

[in] fcn callback function to call

Returns: always true

◆ register_on_error()

bool rclcpp_lifecycle::LifecycleNode::register_on_error ( std::function< LifecycleNodeInterface::CallbackReturn(const State &)> fcn )

Register the error callback.

This callback will be called when the transition to this state is triggered

Parameters

[in] fcn callback function to call

Returns: always true

◆ add_publisher_handle()

void rclcpp_lifecycle::LifecycleNode::add_publisher_handle ( std::shared_ptr< rclcpp_lifecycle::LifecyclePublisherInterface > pub )

protected

◆ add_timer_handle()

void rclcpp_lifecycle::LifecycleNode::add_timer_handle ( std::shared_ptr< rclcpp::TimerBase > timer )

protected

◆ create_subscription() [2/2]

template<typename MessageT , typename CallbackT , typename AllocatorT , typename CallbackMessageT , typename SubscriptionT , typename MessageMemoryStrategyT >

std::shared_ptr<SubscriptionT> rclcpp_lifecycle::LifecycleNode::create_subscription	(	const std::string &	topic_name,
		const rclcpp::QoS &	qos,
		CallbackT &&	callback,
		const rclcpp::SubscriptionOptionsWithAllocator< AllocatorT > &	options,
		typename MessageMemoryStrategyT::SharedPtr	msg_mem_strat
	)

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

include/rclcpp_lifecycle/lifecycle_node.hpp
include/rclcpp_lifecycle/lifecycle_node_impl.hpp

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

Member Typedef Documentation

◆ OnSetParametersCallbackHandle

◆ OnParametersSetCallbackType

Constructor & Destructor Documentation

◆ LifecycleNode() [1/2]

◆ LifecycleNode() [2/2]

◆ ~LifecycleNode()

Member Function Documentation

◆ get_name()

◆ get_namespace()

◆ get_logger()

◆ create_callback_group()

◆ get_callback_groups()

◆ create_publisher()

◆ create_subscription() [1/2]

◆ create_wall_timer()

◆ create_client()

◆ create_service()

◆ create_generic_publisher()

◆ create_generic_subscription()

◆ declare_parameter() [1/5]

◆ declare_parameter() [2/5]

◆ declare_parameter() [3/5]

◆ declare_parameter() [4/5]

◆ declare_parameter() [5/5]

◆ declare_parameters() [1/2]

◆ declare_parameters() [2/2]

◆ undeclare_parameter()

◆ has_parameter()

◆ set_parameter()

◆ set_parameters()

◆ set_parameters_atomically()

◆ get_parameter() [1/3]

◆ get_parameter() [2/3]

◆ get_parameter() [3/3]

◆ get_parameter_or()

◆ get_parameters() [1/2]

◆ get_parameters() [2/2]

◆ describe_parameter()

◆ describe_parameters()

◆ get_parameter_types()

◆ list_parameters()

◆ add_on_set_parameters_callback()

◆ remove_on_set_parameters_callback()

◆ get_node_names()

◆ get_topic_names_and_types()

◆ get_service_names_and_types()

◆ get_service_names_and_types_by_node()

◆ count_publishers()

◆ count_subscribers()

◆ get_publishers_info_by_topic()

◆ get_subscriptions_info_by_topic()

◆ get_graph_event()

◆ wait_for_graph_change()

◆ get_clock() [1/2]

◆ get_clock() [2/2]

◆ now()

◆ get_node_base_interface()

◆ get_node_clock_interface()

◆ get_node_graph_interface()

◆ get_node_logging_interface()

◆ get_node_timers_interface()

◆ get_node_topics_interface()

◆ get_node_services_interface()

◆ get_node_parameters_interface()

◆ get_node_time_source_interface()

◆ get_node_waitables_interface()

◆ get_node_options()

◆ get_current_state()

◆ get_available_states()

◆ get_available_transitions()

◆ get_transition_graph()

◆ trigger_transition() [1/4]

◆ trigger_transition() [2/4]

◆ trigger_transition() [3/4]

◆ trigger_transition() [4/4]