roboligo::RoboligoNode Class Reference

A lifecycle node that manages the Roboligo robot system. More...

#include <RoboligoNode.hpp>

Inheritance diagram for roboligo::RoboligoNode:

Collaboration diagram for roboligo::RoboligoNode:

Public Types
using	CallbackReturnT = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn

Public Member Functions
std::map< std::string, RoboligoNodeInfo >	get_roboligo_system_nodes ()
	method to obtain updated information about nodes, overall Nodes names
void	input_callback (const std::shared_ptr< roboligo_interfaces::srv::RoboligoString::Request > request, std::shared_ptr< roboligo_interfaces::srv::RoboligoString::Response > response)
	callback method for service input_command
CallbackReturnT	on_activate (const rclcpp_lifecycle::State &state)
	Instructions on_activate state.
CallbackReturnT	on_cleanup (const rclcpp_lifecycle::State &state)
	Instructions on_cleanup state.
CallbackReturnT	on_configure (const rclcpp_lifecycle::State &state)
	Instructions on_configure state.
CallbackReturnT	on_deactivate (const rclcpp_lifecycle::State &state)
	Instructions on_deactive state.
CallbackReturnT	on_error (const rclcpp_lifecycle::State &state)
	Instructions on_error state.
CallbackReturnT	on_shutdown (const rclcpp_lifecycle::State &state)
	Instructions on_shutdown state.
void	preShutdown ()
	preShutdown method is defined to configure lifecycle node before than shutdown
void	roboligo_cycle ()
	Cycle method, into are call cycle method of another nodes.
void	roboligo_init ()
	Initalize method, into are call init method of another nodes.
	RoboligoNode (const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	Constructor.
	~RoboligoNode ()
	Destructor.

Public Attributes
rclcpp::Service< roboligo_interfaces::srv::RoboligoString >::SharedPtr	input_command
	Service to read the input command.

Detailed Description

A lifecycle node that manages the Roboligo robot system.

This class managments the connector and state nodes, give them information about robot state

Member Typedef Documentation

CallbackReturnT

using roboligo::RoboligoNode::CallbackReturnT = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn

Constructor & Destructor Documentation

RoboligoNode()

roboligo::RoboligoNode::RoboligoNode ( const rclcpp::NodeOptions & options = rclcpp::NodeOptions() )

explicit

Constructor.

Parameters

Node	options to configure the node

~RoboligoNode()

roboligo::RoboligoNode::~RoboligoNode

(

)

Destructor.

Member Function Documentation

get_roboligo_system_nodes()

std::map< std::string, RoboligoNodeInfo > roboligo::RoboligoNode::get_roboligo_system_nodes

(

)

method to obtain updated information about nodes, overall Nodes names

Returns

map with name and info of the nodes managed by RoboligNode

input_callback()

void roboligo::RoboligoNode::input_callback	(	const std::shared_ptr< roboligo_interfaces::srv::RoboligoString::Request >	request,
		std::shared_ptr< roboligo_interfaces::srv::RoboligoString::Response >	response )

callback method for service input_command

Parameters

request	Request of RoboligoString type
response	Response of RoboligoString type

on_activate()

CallbackReturnT roboligo::RoboligoNode::on_activate

(

const rclcpp_lifecycle::State &

state

)

Instructions on_activate state.

Parameters

state

lifecycle

Returns

CallbackReturnT defined in this class

on_cleanup()

CallbackReturnT roboligo::RoboligoNode::on_cleanup

(

const rclcpp_lifecycle::State &

state

)

Instructions on_cleanup state.

Parameters

state

lifecycle

Returns

CallbackReturnT defined in this class

on_configure()

CallbackReturnT roboligo::RoboligoNode::on_configure

(

const rclcpp_lifecycle::State &

state

)

Instructions on_configure state.

Parameters

state

lifecycle

Returns

CallbackReturnT defined in this class

on_deactivate()

CallbackReturnT roboligo::RoboligoNode::on_deactivate

(

const rclcpp_lifecycle::State &

state

)

Instructions on_deactive state.

Parameters

state

lifecycle

Returns

CallbackReturnT defined in this class

on_error()

CallbackReturnT roboligo::RoboligoNode::on_error

(

const rclcpp_lifecycle::State &

state

)

Instructions on_error state.

Parameters

state

lifecycle

Returns

CallbackReturnT defined in this class

on_shutdown()

CallbackReturnT roboligo::RoboligoNode::on_shutdown

(

const rclcpp_lifecycle::State &

state

)

Instructions on_shutdown state.

Parameters

state

lifecycle

Returns

CallbackReturnT defined in this class

preShutdown()

void roboligo::RoboligoNode::preShutdown

(

)

preShutdown method is defined to configure lifecycle node before than shutdown

roboligo_cycle()

void roboligo::RoboligoNode::roboligo_cycle

(

)

Cycle method, into are call cycle method of another nodes.

roboligo_init()

void roboligo::RoboligoNode::roboligo_init

(

)

Initalize method, into are call init method of another nodes.

Member Data Documentation

input_command

rclcpp::Service<roboligo_interfaces::srv::RoboligoString>::SharedPtr roboligo::RoboligoNode::input_command

Service to read the input command.

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

• roboligo_system/include/roboligo_system/RoboligoNode.hpp
• roboligo_system/src/roboligo_system/RoboligoNode.cpp