PerceptionFakeCapability Class Reference

The "perception" capability, backed by the fake/mock action server: a lifecycle node advertising a (mock) easyfleet_interfaces/Perception action, described by config/perception.json. More...

#include <perception_fake_capability.hpp>

Inheritance diagram for PerceptionFakeCapability:

Public Member Functions
	PerceptionFakeCapability (const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	Constructs the capability node.
Public Member Functions inherited from Capability< PerceptionFakeActionServer >
	Capability (const std::string &capability_name, const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	Constructs the capability node.
ActionServerBaseT::SharedPtr	get_action_server () const noexcept
	The action server backing this capability.
const std::string &	get_capability_name () const noexcept override
	The capability identity field published on /capabilities and /capabilities_status.
const std::string &	get_robot_name () const noexcept override
	This node's namespace, without the leading '/' (empty if none), e.g.
const std::string &	get_resolved_action_name () const noexcept
	Fully-qualified name of the action this capability exposes, e.g.
CallbackReturn	configure_node () override
	Drive the underlying lifecycle node from UNCONFIGURED to INACTIVE.
CallbackReturn	activate_node () override
	Drive the underlying lifecycle node from INACTIVE to ACTIVE.
CallbackReturn	deactivate_node () override
	Drive the underlying lifecycle node from ACTIVE to INACTIVE.
CallbackReturn	cleanup_node () override
	Drive the underlying lifecycle node from INACTIVE to UNCONFIGURED.
CallbackReturn	shutdown_node () override
	Drive the underlying lifecycle node to FINALIZED, from whatever state it is currently in.
uint8_t	get_current_state_id () const override
	The underlying lifecycle node's current state id.
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	get_node_base_interface () override
	So a Deployment can add the underlying node to its shared executor without knowing its concrete type.

Additional Inherited Members
Public Types inherited from Capability< PerceptionFakeActionServer >
using	CallbackReturn
	Lifecycle transition result type shared with rclcpp_lifecycle.
using	ActionServerBaseT
	The ActionServerBase<...> specialization backing this capability.
Public Types inherited from CapabilityNodeBase
using	SharedPtr = std::shared_ptr<CapabilityNodeBase>
	Shared pointer to a CapabilityNodeBase.
using	CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
	Lifecycle transition result type shared with rclcpp_lifecycle.
Protected Member Functions inherited from Capability< PerceptionFakeActionServer >
CallbackReturn	on_configure (const rclcpp_lifecycle::State &previous_state) override
	Reads capabilities_file and configures the contained ActionServerT.
CallbackReturn	on_activate (const rclcpp_lifecycle::State &previous_state) override
	Publishes the capability description and starts the status heartbeat.
CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &previous_state) override
	Stops the status heartbeat.
CallbackReturn	on_cleanup (const rclcpp_lifecycle::State &previous_state) override
	Releases the resources acquired in on_configure().
CallbackReturn	on_shutdown (const rclcpp_lifecycle::State &previous_state) override
	Stops the status heartbeat if still running.

Detailed Description

The "perception" capability, backed by the fake/mock action server: a lifecycle node advertising a (mock) easyfleet_interfaces/Perception action, described by config/perception.json.

Constructor & Destructor Documentation

PerceptionFakeCapability()

PerceptionFakeCapability ( const rclcpp::NodeOptions & options = rclcpp::NodeOptions() )

explicit

Constructs the capability node.

Parameters

options

Forwarded to the underlying LifecycleNode.

---

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

• easyfleet_example_deployments/easyfleet_fake_collaboration_deployment/include/easyfleet_fake_collaboration_deployment/perception_fake_capability.hpp
• easyfleet_example_deployments/easyfleet_fake_collaboration_deployment/src/easyfleet_fake_collaboration_deployment/perception_fake_capability.cpp