LocalizerNode Class Reference

ROS 2 lifecycle node that manages localization in Easy Navigation. More...

#include <LocalizerNode.hpp>

Inheritance diagram for LocalizerNode:

Collaboration diagram for LocalizerNode:

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

Public Member Functions
void	cycle (std::shared_ptr< NavState > nav_state)
	Run a non-real-time localization cycle.
bool	cycle_rt (std::shared_ptr< NavState > nav_state, bool trigger=false)
	Run a real-time localization cycle.
rclcpp::CallbackGroup::SharedPtr	get_real_time_cbg ()
	Get the callback group for real-time execution.
	LocalizerNode (const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	Constructor.
CallbackReturnT	on_activate (const rclcpp_lifecycle::State &state)
	Activate the node.
CallbackReturnT	on_cleanup (const rclcpp_lifecycle::State &state)
	Clean up the node.
CallbackReturnT	on_configure (const rclcpp_lifecycle::State &state)
	Configure the node.
CallbackReturnT	on_deactivate (const rclcpp_lifecycle::State &state)
	Deactivate the node.
CallbackReturnT	on_error (const rclcpp_lifecycle::State &state)
	Handle lifecycle error transition.
CallbackReturnT	on_shutdown (const rclcpp_lifecycle::State &state)
	Shutdown the node.
	~LocalizerNode ()
	Destructor.

Detailed Description

ROS 2 lifecycle node that manages localization in Easy Navigation.

Handles lifecycle transitions, dynamic loading of the localization plugin, and periodic update execution in real-time or non-real-time contexts.

Member Typedef Documentation

CallbackReturnT

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

Constructor & Destructor Documentation

LocalizerNode()

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

explicit

Constructor.

Parameters

options

Optional node configuration.

~LocalizerNode()

~LocalizerNode

(

)

Destructor.

Member Function Documentation

cycle()

void cycle

(

std::shared_ptr< NavState >

nav_state

)

Run a non-real-time localization cycle.

Parameters

nav_state

Shared pointer to the navigation state structure.

cycle_rt()

bool cycle_rt	(	std::shared_ptr< NavState >	nav_state,
		bool	trigger = false )

Run a real-time localization cycle.

Parameters

nav_state	Shared pointer to the navigation state structure.
trigger	Optional override to force execution.

Returns

True if plugin update was executed.

get_real_time_cbg()

rclcpp::CallbackGroup::SharedPtr get_real_time_cbg

(

)

Get the callback group for real-time execution.

Returns

Shared pointer to the callback group.

on_activate()

CallbackReturnT on_activate

(

const rclcpp_lifecycle::State &

state

)

Activate the node.

Parameters

state

Lifecycle state.

Returns

SUCCESS if activation succeeded.

on_cleanup()

CallbackReturnT on_cleanup

(

const rclcpp_lifecycle::State &

state

)

Clean up the node.

Parameters

state

Lifecycle state.

Returns

SUCCESS if cleanup succeeded.

on_configure()

CallbackReturnT on_configure

(

const rclcpp_lifecycle::State &

state

)

Configure the node.

Parameters

state

Lifecycle state.

Returns

SUCCESS if configuration succeeded.

on_deactivate()

CallbackReturnT on_deactivate

(

const rclcpp_lifecycle::State &

state

)

Deactivate the node.

Parameters

state

Lifecycle state.

Returns

SUCCESS if deactivation succeeded.

on_error()

CallbackReturnT on_error

(

const rclcpp_lifecycle::State &

state

)

Handle lifecycle error transition.

Parameters

state

Lifecycle state.

Returns

SUCCESS after handling error.

on_shutdown()

CallbackReturnT on_shutdown

(

const rclcpp_lifecycle::State &

state

)

Shutdown the node.

Parameters

state

Lifecycle state.

Returns

SUCCESS if shutdown succeeded.

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

• easynav_localizer/include/easynav_localizer/LocalizerNode.hpp
• easynav_localizer/src/easynav_localizer/LocalizerNode.cpp