Easy Navigation
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ROS 2 lifecycle node that manages localization in Easy Navigation. More...
#include <LocalizerNode.hpp>
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. | |
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.
using CallbackReturnT = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn |
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explicit |
Constructor.
options | Optional node configuration. |
~LocalizerNode | ( | ) |
Destructor.
void cycle | ( | std::shared_ptr< NavState > | nav_state | ) |
Run a non-real-time localization cycle.
nav_state | Shared pointer to the navigation state structure. |
bool cycle_rt | ( | std::shared_ptr< NavState > | nav_state, |
bool | trigger = false ) |
Run a real-time localization cycle.
nav_state | Shared pointer to the navigation state structure. |
trigger | Optional override to force execution. |
rclcpp::CallbackGroup::SharedPtr get_real_time_cbg | ( | ) |
Get the callback group for real-time execution.
CallbackReturnT on_activate | ( | const rclcpp_lifecycle::State & | state | ) |
Activate the node.
state | Lifecycle state. |
CallbackReturnT on_cleanup | ( | const rclcpp_lifecycle::State & | state | ) |
Clean up the node.
state | Lifecycle state. |
CallbackReturnT on_configure | ( | const rclcpp_lifecycle::State & | state | ) |
Configure the node.
state | Lifecycle state. |
CallbackReturnT on_deactivate | ( | const rclcpp_lifecycle::State & | state | ) |
Deactivate the node.
state | Lifecycle state. |
CallbackReturnT on_error | ( | const rclcpp_lifecycle::State & | state | ) |
Handle lifecycle error transition.
state | Lifecycle state. |
CallbackReturnT on_shutdown | ( | const rclcpp_lifecycle::State & | state | ) |
Shutdown the node.
state | Lifecycle state. |