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, 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.

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

options

Node 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

state

Lifecycle state.

Returns

SUCCESS if activation succeeded.

on_cleanup()

CallbackReturnT on_cleanup

(

const rclcpp_lifecycle::State &

state

)

Cleanup 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 transition error.

Parameters

state

Lifecycle state.

Returns

SUCCESS if error handled.

on_shutdown()

CallbackReturnT on_shutdown

(

const rclcpp_lifecycle::State &

state

)

Shutdown the node.

Parameters

state

Lifecycle 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.

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

• easynav_system/include/easynav_system/SystemNode.hpp
• easynav_system/src/easynav_system/SystemNode.cpp