Implementation of the NodeBase part of the Node API. More...
#include <rclcpp/node_interfaces/node_base.hpp>
Public Member Functions | |
| RCLCPP_PUBLIC | NodeBase (const std::string &node_name, const std::string &namespace_, rclcpp::Context::SharedPtr context, const rcl_node_options_t &rcl_node_options, bool use_intra_process_default, bool enable_topic_statistics_default) |
| RCLCPP_PUBLIC const char * | get_name () const override |
| Return the name of the node. More... | |
| RCLCPP_PUBLIC const char * | get_namespace () const override |
| Return the namespace of the node. More... | |
| RCLCPP_PUBLIC const char * | get_fully_qualified_name () const override |
| Return the fully qualified name of the node. More... | |
| RCLCPP_PUBLIC rclcpp::Context::SharedPtr | get_context () override |
| Return the context of the node. More... | |
| RCLCPP_PUBLIC rcl_node_t * | get_rcl_node_handle () override |
| Return the rcl_node_t node handle (non-const version). | |
| RCLCPP_PUBLIC const rcl_node_t * | get_rcl_node_handle () const override |
| Return the rcl_node_t node handle (const version). | |
| RCLCPP_PUBLIC std::shared_ptr< rcl_node_t > | get_shared_rcl_node_handle () override |
| Return the rcl_node_t node handle in a std::shared_ptr. More... | |
| RCLCPP_PUBLIC std::shared_ptr< const rcl_node_t > | get_shared_rcl_node_handle () const override |
| Return the rcl_node_t node handle in a std::shared_ptr. More... | |
| RCLCPP_PUBLIC rclcpp::CallbackGroup::SharedPtr | create_callback_group (rclcpp::CallbackGroupType group_type, bool automatically_add_to_executor_with_node=true) override |
| Create and return a callback group. | |
| RCLCPP_PUBLIC rclcpp::CallbackGroup::SharedPtr | get_default_callback_group () override |
| Return the default callback group. | |
| RCLCPP_PUBLIC bool | callback_group_in_node (rclcpp::CallbackGroup::SharedPtr group) override |
| Return true if the given callback group is associated with this node. | |
| RCLCPP_PUBLIC void | for_each_callback_group (const CallbackGroupFunction &func) override |
| Iterate over the stored callback groups, calling the given function on each valid one. More... | |
| RCLCPP_PUBLIC std::atomic_bool & | get_associated_with_executor_atomic () override |
| Return the atomic bool which is used to ensure only one executor is used. | |
| RCLCPP_PUBLIC rclcpp::GuardCondition & | get_notify_guard_condition () override |
| Return a guard condition that should be notified when the internal node state changes. More... | |
| RCLCPP_PUBLIC bool | get_use_intra_process_default () const override |
| Return the default preference for using intra process communication. | |
| bool | get_enable_topic_statistics_default () const override |
| Return the default preference for enabling topic statistics collection. | |
| std::string | resolve_topic_or_service_name (const std::string &name, bool is_service, bool only_expand=false) const override |
| Expand and remap a given topic or service name. | |
Additional Inherited Members | |
 Public Types inherited from rclcpp::node_interfaces::NodeBaseInterface | |
| using | CallbackGroupFunction = std::function< void(rclcpp::CallbackGroup::SharedPtr)> |
Detailed Description
Implementation of the NodeBase part of the Node API.
Definition at line 37 of file node_base.hpp.
Member Function Documentation
◆ for_each_callback_group()
|
overridevirtual |
Iterate over the stored callback groups, calling the given function on each valid one.
This method is called in a thread-safe way, and also makes sure to only call the given function on those items that are still valid.
- Parameters
-
[in] func The callback function to call on each valid callback group.
Implements rclcpp::node_interfaces::NodeBaseInterface.
Definition at line 228 of file node_base.cpp.
◆ get_context()
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overridevirtual |
Return the context of the node.
- Returns
- SharedPtr to the node's context.
Implements rclcpp::node_interfaces::NodeBaseInterface.
Definition at line 167 of file node_base.cpp.
◆ get_fully_qualified_name()
|
overridevirtual |
Return the fully qualified name of the node.
- Returns
- The fully qualified name of the node.
Implements rclcpp::node_interfaces::NodeBaseInterface.
Definition at line 161 of file node_base.cpp.
References rcl_node_get_fully_qualified_name().
◆ get_name()
|
overridevirtual |
Return the name of the node.
- Returns
- The name of the node.
Implements rclcpp::node_interfaces::NodeBaseInterface.
Definition at line 149 of file node_base.cpp.
References rcl_node_get_name().
◆ get_namespace()
|
overridevirtual |
Return the namespace of the node.
- Returns
- The namespace of the node.
Implements rclcpp::node_interfaces::NodeBaseInterface.
Definition at line 155 of file node_base.cpp.
References rcl_node_get_namespace().
◆ get_notify_guard_condition()
|
overridevirtual |
Return a guard condition that should be notified when the internal node state changes.
For example, this should be notified when a publisher is added or removed.
- Returns
- the GuardCondition if it is valid, else thow runtime error
Implements rclcpp::node_interfaces::NodeBaseInterface.
Definition at line 246 of file node_base.cpp.
◆ get_shared_rcl_node_handle() [1/2]
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overridevirtual |
Return the rcl_node_t node handle in a std::shared_ptr.
This handle remains valid after the Node is destroyed. The actual rcl node is not finalized until it is out of scope everywhere.
Implements rclcpp::node_interfaces::NodeBaseInterface.
Definition at line 191 of file node_base.cpp.
◆ get_shared_rcl_node_handle() [2/2]
|
overridevirtual |
Return the rcl_node_t node handle in a std::shared_ptr.
This handle remains valid after the Node is destroyed. The actual rcl node is not finalized until it is out of scope everywhere.
Implements rclcpp::node_interfaces::NodeBaseInterface.
Definition at line 185 of file node_base.cpp.
The documentation for this class was generated from the following files:
- rclcpp/include/rclcpp/node_interfaces/node_base.hpp
- rclcpp/src/rclcpp/node_interfaces/node_base.cpp
