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

#include <nav2_ros_common/include/nav2_ros_common/lifecycle_node.hpp>

Inheritance diagram for nav2::LifecycleNode:

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Collaboration diagram for nav2::LifecycleNode:

Public Types
using	SharedPtr = std::shared_ptr< nav2::LifecycleNode >

using	WeakPtr = std::weak_ptr< nav2::LifecycleNode >

using	SharedConstPointer = std::shared_ptr< const nav2::LifecycleNode >

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

	LifecycleNode (const std::string &node_name, const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	A lifecycle node constructor with no namespace. More...

template<typename ParameterT >
ParameterT	declare_or_get_parameter (const std::string &parameter_name, const ParameterDescriptor &parameter_descriptor=ParameterDescriptor())
	Declares or gets a parameter with specified type (not value). If the parameter is already declared, returns its value; otherwise declares it with the specified type. More...

template<typename ParamType >
ParamType	declare_or_get_parameter (const std::string &parameter_name, const ParamType &default_value, const ParameterDescriptor &parameter_descriptor=ParameterDescriptor())
	Declares or gets a parameter. If the parameter is already declared, returns its value; otherwise declares it and returns the default value. More...

template<typename MessageT , typename CallbackT >
nav2::Subscription< MessageT >::SharedPtr	create_subscription (const std::string &topic_name, CallbackT &&callback, const rclcpp::QoS &qos=nav2::qos::StandardTopicQoS(), const rclcpp::CallbackGroup::SharedPtr &callback_group=nullptr)
	Create a subscription to a topic using Nav2 QoS profiles and SubscriptionOptions. More...

template<typename MessageT >
nav2::Publisher< MessageT >::SharedPtr	create_publisher (const std::string &topic_name, const rclcpp::QoS &qos=nav2::qos::StandardTopicQoS(), const rclcpp::CallbackGroup::SharedPtr &callback_group=nullptr)
	Create a publisher to a topic using Nav2 QoS profiles and PublisherOptions. More...

template<typename ServiceT >
nav2::ServiceClient< ServiceT >::SharedPtr	create_client (const std::string &service_name, bool use_internal_executor=false)
	Create a ServiceClient to interface with a service. More...

template<typename ServiceT >
nav2::ServiceServer< ServiceT >::SharedPtr	create_service (const std::string &service_name, typename nav2::ServiceServer< ServiceT >::CallbackType cb, rclcpp::CallbackGroup::SharedPtr callback_group=nullptr)
	Create a ServiceServer to host with a service. More...

template<typename DurationRepT , typename DurationT , typename CallbackT >
rclcpp::GenericTimer< CallbackT >::SharedPtr	create_timer (std::chrono::duration< DurationRepT, DurationT > period, CallbackT callback, rclcpp::CallbackGroup::SharedPtr group=nullptr)
	Create a sim-time-aware timer for Nav2 lifecycle nodes. More...

template<typename ActionT >
nav2::SimpleActionServer< ActionT >::SharedPtr	create_action_server (const std::string &action_name, typename nav2::SimpleActionServer< ActionT >::ExecuteCallback execute_callback, typename nav2::SimpleActionServer< ActionT >::GoalReceivedCallback goal_received_callback=nullptr, typename nav2::SimpleActionServer< ActionT >::CompletionCallback compl_cb=nullptr, std::chrono::milliseconds server_timeout=std::chrono::milliseconds(500), bool spin_thread=false, const bool realtime=false)
	Create a SimpleActionServer to host with an action. More...

template<typename ActionT >
nav2::ActionClient< ActionT >::SharedPtr	create_action_client (const std::string &action_name, rclcpp::CallbackGroup::SharedPtr callback_group=nullptr)
	Create a ActionClient to call an action using. More...

nav2::LifecycleNode::SharedPtr	shared_from_this ()
	Get a shared pointer of this.

nav2::LifecycleNode::WeakPtr	weak_from_this ()
	Get a shared pointer of this.

nav2::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::shared_ptr< bond::Bond >	bond_ {nullptr}

double	bond_heartbeat_period {0.1}

rclcpp::TimerBase::SharedPtr	autostart_timer_

Detailed Description

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

Definition at line 46 of file lifecycle_node.hpp.

Constructor & Destructor Documentation

◆ LifecycleNode() [1/2]

nav2::LifecycleNode::LifecycleNode	(	const std::string &	node_name,
		const std::string &	ns,
		const rclcpp::NodeOptions &	options = `rclcpp::NodeOptions()`
	)

inline

A lifecycle node constructor.

Parameters

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

Definition at line 59 of file lifecycle_node.hpp.

◆ LifecycleNode() [2/2]

nav2::LifecycleNode::LifecycleNode	(	const std::string &	node_name,
		const rclcpp::NodeOptions &	options = `rclcpp::NodeOptions()`
	)

inline

A lifecycle node constructor with no namespace.

Parameters

node_name	Name for the node
options	Node options

Definition at line 87 of file lifecycle_node.hpp.

Member Function Documentation

◆ create_action_client()

template<typename ActionT >

nav2::ActionClient<ActionT>::SharedPtr nav2::LifecycleNode::create_action_client	(	const std::string &	action_name,
		rclcpp::CallbackGroup::SharedPtr	callback_group = `nullptr`
	)

inline

Create a ActionClient to call an action using.

Parameters

action_name	Name of action
callback_group	The callback group to use (if provided)

Returns: A shared pointer to the created nav2::ActionClient

Definition at line 286 of file lifecycle_node.hpp.

◆ create_action_server()

template<typename ActionT >

nav2::SimpleActionServer<ActionT>::SharedPtr nav2::LifecycleNode::create_action_server	(	const std::string &	action_name,
		typename nav2::SimpleActionServer< ActionT >::ExecuteCallback	execute_callback,
		typename nav2::SimpleActionServer< ActionT >::GoalReceivedCallback	goal_received_callback = `nullptr`,
		typename nav2::SimpleActionServer< ActionT >::CompletionCallback	compl_cb = `nullptr`,
		std::chrono::milliseconds	server_timeout = `std::chrono::milliseconds(500)`,
		bool	spin_thread = `false`,
		const bool	realtime = `false`
	)

inline

Create a SimpleActionServer to host with an action.

Parameters

action_name	Name of action
execute_callback	Callback function to handle action execution
completion_callback	Callback function to handle action completion (optional)
server_timeout	Timeout for the action server (default is 500ms)
spin_thread	Whether to spin with a dedicated thread internally (default is false)
realtime	Whether the action server's worker thread should have elevated

Returns: A shared pointer to the created nav2::SimpleActionServer

Definition at line 263 of file lifecycle_node.hpp.

◆ create_client()

template<typename ServiceT >

nav2::ServiceClient<ServiceT>::SharedPtr nav2::LifecycleNode::create_client	(	const std::string &	service_name,
		bool	use_internal_executor = `false`
	)

inline

Create a ServiceClient to interface with a service.

Parameters

service_name	Name of service
use_internal_executor	Whether to use the internal executor (default is false)

Returns: A shared pointer to the created nav2::ServiceClient

Definition at line 202 of file lifecycle_node.hpp.

Referenced by nav2_simple_commander.robot_navigator.BasicNavigator::lifecycleShutdown(), and nav2_simple_commander.robot_navigator.BasicNavigator::lifecycleStartup().

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◆ create_publisher()

template<typename MessageT >

nav2::Publisher<MessageT>::SharedPtr nav2::LifecycleNode::create_publisher	(	const std::string &	topic_name,
		const rclcpp::QoS &	qos = `nav2::qos::StandardTopicQoS()`,
		const rclcpp::CallbackGroup::SharedPtr &	callback_group = `nullptr`
	)

inline

Create a publisher to a topic using Nav2 QoS profiles and PublisherOptions.

Parameters

topic_name	Name of topic
qos	QoS settings for the publisher (default is nav2::qos::StandardTopicQoS())
callback_group	The callback group to use (if provided)

Returns: A shared pointer to the created nav2::Publisher

Definition at line 175 of file lifecycle_node.hpp.

◆ create_service()

template<typename ServiceT >

nav2::ServiceServer<ServiceT>::SharedPtr nav2::LifecycleNode::create_service	(	const std::string &	service_name,
		typename nav2::ServiceServer< ServiceT >::CallbackType	cb,
		rclcpp::CallbackGroup::SharedPtr	callback_group = `nullptr`
	)

inline

Create a ServiceServer to host with a service.

Parameters

service_name	Name of service
callback	Callback function to handle service requests
callback_group	The callback group to use (if provided)

Returns: A shared pointer to the created nav2::ServiceServer

Definition at line 219 of file lifecycle_node.hpp.

◆ create_subscription()

template<typename MessageT , typename CallbackT >

nav2::Subscription<MessageT>::SharedPtr nav2::LifecycleNode::create_subscription	(	const std::string &	topic_name,
		CallbackT &&	callback,
		const rclcpp::QoS &	qos = `nav2::qos::StandardTopicQoS()`,
		const rclcpp::CallbackGroup::SharedPtr &	callback_group = `nullptr`
	)

inline

Create a subscription to a topic using Nav2 QoS profiles and SubscriptionOptions.

Parameters

topic_name	Name of topic
callback	Callback function to handle incoming messages
qos	QoS settings for the subscription (default is nav2::qos::StandardTopicQoS())
callback_group	The callback group to use (if provided)

Returns: A shared pointer to the created nav2::Subscription

Definition at line 155 of file lifecycle_node.hpp.

◆ create_timer()

template<typename DurationRepT , typename DurationT , typename CallbackT >

rclcpp::GenericTimer<CallbackT>::SharedPtr nav2::LifecycleNode::create_timer	(	std::chrono::duration< DurationRepT, DurationT >	period,
		CallbackT	callback,
		rclcpp::CallbackGroup::SharedPtr	group = `nullptr`
	)

inline

Create a sim-time-aware timer for Nav2 lifecycle nodes.

Parameters

period	The duration between timer callbacks
callback	Callback function to execute on each timer tick
group	The callback group to use (if provided)

Returns: A shared pointer to the created GenericTimer

Definition at line 237 of file lifecycle_node.hpp.

Referenced by nav2_loopback_sim::LoopbackSimulator::initialPoseCallback(), nav2_collision_monitor::CollisionDetector::on_activate(), nav2_loopback_sim::LoopbackSimulator::on_activate(), nav2_velocity_smoother::VelocitySmoother::on_activate(), nav2_map_server::VectorObjectServer::switchMapUpdate(), and nav2_velocity_smoother::VelocitySmoother::updateParametersCallback().

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◆ declare_or_get_parameter() [1/2]

template<typename ParameterT >

ParameterT nav2::LifecycleNode::declare_or_get_parameter	(	const std::string &	parameter_name,
		const ParameterDescriptor &	parameter_descriptor = `ParameterDescriptor()`
	)

inline

Declares or gets a parameter with specified type (not value). If the parameter is already declared, returns its value; otherwise declares it with the specified type.

Parameters

parameter_name	Name of the parameter
parameter_descriptor	Optional parameter descriptor

Returns: The value of the parameter or throws an exception if not set

Definition at line 115 of file lifecycle_node.hpp.

Referenced by behavior_server::BehaviorServer::BehaviorServer(), nav2_constrained_smoother::SmootherParams::get(), nav2_constrained_smoother::OptimizerParams::get(), nav2_costmap_2d::Costmap2DROS::getParameters(), nav2_bt_navigator::BtNavigator::on_configure(), nav2_loopback_sim::LoopbackSimulator::on_configure(), nav2_route::RouteServer::on_configure(), and behavior_server::BehaviorServer::setupResourcesForBehaviorPlugins().

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◆ declare_or_get_parameter() [2/2]

template<typename ParamType >

ParamType nav2::LifecycleNode::declare_or_get_parameter	(	const std::string &	parameter_name,
		const ParamType &	default_value,
		const ParameterDescriptor &	parameter_descriptor = `ParameterDescriptor()`
	)

inline

Declares or gets a parameter. If the parameter is already declared, returns its value; otherwise declares it and returns the default value.

Parameters

parameter_name	Name of the parameter
default_value	Default value of the parameter
parameter_descriptor	Optional parameter descriptor

Returns: The value of the param from the override if existent, otherwise the default value.

Definition at line 133 of file lifecycle_node.hpp.

◆ on_error()

nav2::CallbackReturn nav2::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 318 of file lifecycle_node.hpp.

◆ register_rcl_preshutdown_callback()

void nav2::LifecycleNode::register_rcl_preshutdown_callback ( )

inlineprotected

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 417 of file lifecycle_node.hpp.

References on_rcl_preshutdown().

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◆ runCleanups()

void nav2::LifecycleNode::runCleanups ( )

inlineprotected

Run some common cleanup steps shared between rcl preshutdown and destruction.

Definition at line 430 of file lifecycle_node.hpp.

Referenced by nav2_costmap_2d::Costmap2DROS::on_rcl_preshutdown().

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

nav2_ros_common/include/nav2_ros_common/lifecycle_node.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ LifecycleNode() [1/2]

◆ LifecycleNode() [2/2]

Member Function Documentation

◆ create_action_client()

◆ create_action_server()

◆ create_client()

◆ create_publisher()

◆ create_service()

◆ create_subscription()

◆ create_timer()

◆ declare_or_get_parameter() [1/2]

◆ declare_or_get_parameter() [2/2]

◆ on_error()

◆ register_rcl_preshutdown_callback()

◆ runCleanups()