Easy Navigation
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ROS 2 lifecycle node coordinating all Easy Navigation components. More...
#include <SystemNode.hpp>
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, SystemNodeInfo > | get_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. | |
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.
using CallbackReturnT = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn |
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explicit |
Constructor.
options | Node options. |
~SystemNode | ( | ) |
Destructor.
rclcpp::CallbackGroup::SharedPtr get_real_time_cbg | ( | ) |
Get the real-time callback group.
std::map< std::string, SystemNodeInfo > get_system_nodes | ( | ) |
Get all system nodes managed by this coordinator.
CallbackReturnT on_activate | ( | const rclcpp_lifecycle::State & | state | ) |
Activate the node.
state | Lifecycle state. |
CallbackReturnT on_cleanup | ( | const rclcpp_lifecycle::State & | state | ) |
Cleanup 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 transition error.
state | Lifecycle state. |
CallbackReturnT on_shutdown | ( | const rclcpp_lifecycle::State & | state | ) |
Shutdown the node.
state | Lifecycle state. |
void system_cycle | ( | ) |
Non-real-time system cycle.
void system_cycle_rt | ( | ) |
Real-time system cycle.