A lifecycle node wrapper to enable common Nav2 needs such as manipulating parameters. More...

#include <nav2_util/include/nav2_util/lifecycle_node.hpp>

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Classes
struct	floating_point_range

struct	integer_range

Public Member Functions
	LifecycleNode (const std::string &node_name, const std::string &ns="", const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	A lifecycle node constructor. More...

void	add_parameter (const std::string &name, const rclcpp::ParameterValue &default_value, const std::string &description="", const std::string &additional_constraints="", bool read_only=false)
	Declare a parameter that has no integer or floating point range constraints. More...

void	add_parameter (const std::string &name, const rclcpp::ParameterValue &default_value, const floating_point_range fp_range, const std::string &description="", const std::string &additional_constraints="", bool read_only=false)
	Declare a parameter that has a floating point range constraint. More...

void	add_parameter (const std::string &name, const rclcpp::ParameterValue &default_value, const integer_range int_range, const std::string &description="", const std::string &additional_constraints="", bool read_only=false)
	Declare a parameter that has an integer range constraint. More...

std::shared_ptr< nav2_util::LifecycleNode >	shared_from_this ()
	Get a shared pointer of this.

nav2_util::CallbackReturn	on_error (const rclcpp_lifecycle::State &)
	Abstracted on_error state transition callback, since unimplemented as of 2020 in the managed ROS2 node state machine. More...

void	autostart ()
	Automatically configure and active the node.

virtual void	on_rcl_preshutdown ()
	Perform preshutdown activities before our Context is shutdown. Note that this is related to our Context's shutdown sequence, not the lifecycle node state machine.

void	createBond ()
	Create bond connection to lifecycle manager.

void	destroyBond ()
	Destroy bond connection to lifecycle manager.

Protected Member Functions
void	printLifecycleNodeNotification ()
	Print notifications for lifecycle node.

void	register_rcl_preshutdown_callback ()

void	runCleanups ()

Protected Attributes
std::unique_ptr< rclcpp::PreShutdownCallbackHandle >	rcl_preshutdown_cb_handle_ {nullptr}

std::unique_ptr< bond::Bond >	bond_ {nullptr}

double	bond_heartbeat_period

rclcpp::TimerBase::SharedPtr	autostart_timer_

Detailed Description

A lifecycle node wrapper to enable common Nav2 needs such as manipulating parameters.

Definition at line 38 of file lifecycle_node.hpp.

Constructor & Destructor Documentation

◆ LifecycleNode()

nav2_util::LifecycleNode::LifecycleNode	(	const std::string &	node_name,
		const std::string &	ns = `""`,
		const rclcpp::NodeOptions &	options = `rclcpp::NodeOptions()`
	)

A lifecycle node constructor.

Parameters

node_name	Name for the node
namespace	Namespace for the node, if any
options	Node options

Definition at line 29 of file lifecycle_node.cpp.

References autostart(), printLifecycleNodeNotification(), and register_rcl_preshutdown_callback().

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Member Function Documentation

◆ add_parameter() [1/3]

void nav2_util::LifecycleNode::add_parameter	(	const std::string &	name,
		const rclcpp::ParameterValue &	default_value,
		const floating_point_range	fp_range,
		const std::string &	description = `""`,
		const std::string &	additional_constraints = `""`,
		bool	read_only = `false`
	)

inline

Declare a parameter that has a floating point range constraint.

Parameters

node_name	Name of parameter
default_value	Default node value to add
fp_range	floating point range
description	Node description
additional_constraints	Any additional constraints on the parameters to list
read_only	Whether this param should be considered read only

Definition at line 99 of file lifecycle_node.hpp.

◆ add_parameter() [2/3]

void nav2_util::LifecycleNode::add_parameter	(	const std::string &	name,
		const rclcpp::ParameterValue &	default_value,
		const integer_range	int_range,
		const std::string &	description = `""`,
		const std::string &	additional_constraints = `""`,
		bool	read_only = `false`
	)

inline

Declare a parameter that has an integer range constraint.

Parameters

node_name	Name of parameter
default_value	Default node value to add
integer_range	Integer range
description	Node description
additional_constraints	Any additional constraints on the parameters to list
read_only	Whether this param should be considered read only

Definition at line 128 of file lifecycle_node.hpp.

◆ add_parameter() [3/3]

void nav2_util::LifecycleNode::add_parameter	(	const std::string &	name,
		const rclcpp::ParameterValue &	default_value,
		const std::string &	description = `""`,
		const std::string &	additional_constraints = `""`,
		bool	read_only = `false`
	)

inline

Declare a parameter that has no integer or floating point range constraints.

Parameters

node_name	Name of parameter
default_value	Default node value to add
description	Node description
additional_constraints	Any additional constraints on the parameters to list
read_only	Whether this param should be considered read only

Definition at line 75 of file lifecycle_node.hpp.

◆ on_error()

nav2_util::CallbackReturn nav2_util::LifecycleNode::on_error ( const rclcpp_lifecycle::State & )

inline

Abstracted on_error state transition callback, since unimplemented as of 2020 in the managed ROS2 node state machine.

Parameters

state State prior to error transition

Returns: Return type for success or failed transition to error state

Definition at line 163 of file lifecycle_node.hpp.

◆ register_rcl_preshutdown_callback()

void nav2_util::LifecycleNode::register_rcl_preshutdown_callback ( )

protected

Register our preshutdown callback for this Node's rcl Context. The callback fires before this Node's Context is shutdown. Note this is not directly related to the lifecycle state machine.

Definition at line 136 of file lifecycle_node.cpp.

References on_rcl_preshutdown().

Referenced by LifecycleNode().

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