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SystemNode Class Reference

ROS 2 lifecycle node coordinating all Easy Navigation components. More...

#include <SystemNode.hpp>

Inheritance diagram for SystemNode:
Collaboration diagram for SystemNode:

Public Types

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

Public Member Functions

rclcpp::CallbackGroup::SharedPtr get_real_time_cbg ()
 Get the real-time callback group.
 
std::map< std::string, SystemNodeInfoget_system_nodes ()
 Get all system nodes managed by this coordinator.
 
CallbackReturnT on_activate (const rclcpp_lifecycle::State &state)
 Activate the node.
 
CallbackReturnT on_cleanup (const rclcpp_lifecycle::State &state)
 Cleanup 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 transition error.
 
CallbackReturnT on_shutdown (const rclcpp_lifecycle::State &state)
 Shutdown the node.
 
void system_cycle ()
 Non-real-time system cycle.
 
void system_cycle_rt ()
 Real-time system cycle.
 
 SystemNode (const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
 Constructor.
 
 ~SystemNode ()
 Destructor.
 

Detailed Description

ROS 2 lifecycle node coordinating all Easy Navigation components.

Manages lifecycle transitions, real-time execution, and communication between planner, controller, localizer, map manager, and sensor nodes.

Member Typedef Documentation

◆ CallbackReturnT

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

Constructor & Destructor Documentation

◆ SystemNode()

SystemNode ( const rclcpp::NodeOptions & options = rclcpp::NodeOptions())
explicit

Constructor.

Parameters
optionsNode options.

◆ ~SystemNode()

~SystemNode ( )

Destructor.

Member Function Documentation

◆ get_real_time_cbg()

rclcpp::CallbackGroup::SharedPtr get_real_time_cbg ( )

Get the real-time callback group.

Returns
Shared pointer to the callback group.

◆ get_system_nodes()

std::map< std::string, SystemNodeInfo > get_system_nodes ( )

Get all system nodes managed by this coordinator.

Returns
Map of node names to node information.

◆ on_activate()

CallbackReturnT on_activate ( const rclcpp_lifecycle::State & state)

Activate the node.

Parameters
stateLifecycle state.
Returns
SUCCESS if activation succeeded.

◆ on_cleanup()

CallbackReturnT on_cleanup ( const rclcpp_lifecycle::State & state)

Cleanup the node.

Parameters
stateLifecycle state.
Returns
SUCCESS if cleanup succeeded.

◆ on_configure()

CallbackReturnT on_configure ( const rclcpp_lifecycle::State & state)

Configure the node.

Parameters
stateLifecycle state.
Returns
SUCCESS if configuration succeeded.

◆ on_deactivate()

CallbackReturnT on_deactivate ( const rclcpp_lifecycle::State & state)

Deactivate the node.

Parameters
stateLifecycle state.
Returns
SUCCESS if deactivation succeeded.

◆ on_error()

CallbackReturnT on_error ( const rclcpp_lifecycle::State & state)

Handle lifecycle transition error.

Parameters
stateLifecycle state.
Returns
SUCCESS if error handled.

◆ on_shutdown()

CallbackReturnT on_shutdown ( const rclcpp_lifecycle::State & state)

Shutdown the node.

Parameters
stateLifecycle state.
Returns
SUCCESS if shutdown succeeded.

◆ system_cycle()

void system_cycle ( )

Non-real-time system cycle.

◆ system_cycle_rt()

void system_cycle_rt ( )

Real-time system cycle.


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