nav2_lifecycle_manager::LifecycleManagerClient Class Reference

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Public Member Functions
template<typename NodeT >
	LifecycleManagerClient (const std::string &name, NodeT parent_node)
	A constructor for LifeCycleMangerClient. More...
bool	startup (const std::chrono::nanoseconds timeout=std::chrono::nanoseconds(-1))
	Make start up service call. More...
bool	shutdown (const std::chrono::nanoseconds timeout=std::chrono::nanoseconds(-1))
	Make shutdown service call. More...
bool	pause (const std::chrono::nanoseconds timeout=std::chrono::nanoseconds(-1))
	Make pause service call. More...
bool	resume (const std::chrono::nanoseconds timeout=std::chrono::nanoseconds(-1))
	Make resume service call. More...
bool	reset (const std::chrono::nanoseconds timeout=std::chrono::nanoseconds(-1))
	Make reset service call. More...
bool	configure (const std::chrono::nanoseconds timeout=std::chrono::nanoseconds(-1))
	Make configure service call. More...
bool	cleanup (const std::chrono::nanoseconds timeout=std::chrono::nanoseconds(-1))
	Make cleanup service call. More...
SystemStatus	is_active (const std::chrono::nanoseconds timeout=std::chrono::nanoseconds(-1))
	Check if lifecycle node manager server is active. More...

Protected Types
using	ManageLifecycleNodes = nav2_msgs::srv::ManageLifecycleNodes

Protected Member Functions
bool	callService (uint8_t command, const std::chrono::nanoseconds timeout=std::chrono::nanoseconds(-1))
	A generic method used to call startup, shutdown, etc. More...

Protected Attributes
rclcpp::Node::SharedPtr	node_
rclcpp::Logger	logger_ {rclcpp::get_logger("nav2_lifecycle_manager_client")}
nav2::ServiceClient< ManageLifecycleNodes >::SharedPtr	manager_client_
nav2::ServiceClient< std_srvs::srv::Trigger >::SharedPtr	is_active_client_
std::string	manage_service_name_
std::string	active_service_name_

Detailed Description

Definition at line 44 of file lifecycle_manager_client.hpp.

Constructor & Destructor Documentation

LifecycleManagerClient()

template<typename NodeT >

nav2_lifecycle_manager::LifecycleManagerClient::LifecycleManagerClient ( const std::string &  name, NodeT  parent_node  )

inlineexplicit

A constructor for LifeCycleMangerClient.

Parameters

name	Managed node name
parent_node	Node that execute the service calls

Definition at line 53 of file lifecycle_manager_client.hpp.

Member Function Documentation

callService()

bool nav2_lifecycle_manager::LifecycleManagerClient::callService ( uint8_t  command, const std::chrono::nanoseconds  timeout = std::chrono::nanoseconds(-1)  )

protected

A generic method used to call startup, shutdown, etc.

Parameters

command

Definition at line 102 of file lifecycle_manager_client.cpp.

References nav2::ServiceClient< ServiceT >::invoke(), and nav2::ServiceClient< ServiceT >::wait_for_service().

Referenced by cleanup(), configure(), pause(), reset(), resume(), shutdown(), and startup().

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cleanup()

bool nav2_lifecycle_manager::LifecycleManagerClient::cleanup

(

const std::chrono::nanoseconds

timeout = std::chrono::nanoseconds(-1)

)

Make cleanup service call.

Returns

true or false

Definition at line 65 of file lifecycle_manager_client.cpp.

References callService().

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configure()

bool nav2_lifecycle_manager::LifecycleManagerClient::configure

(

const std::chrono::nanoseconds

timeout = std::chrono::nanoseconds(-1)

)

Make configure service call.

Returns

true or false

Definition at line 59 of file lifecycle_manager_client.cpp.

References callService().

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is_active()

SystemStatus nav2_lifecycle_manager::LifecycleManagerClient::is_active

(

const std::chrono::nanoseconds

timeout = std::chrono::nanoseconds(-1)

)

Check if lifecycle node manager server is active.

Returns

ACTIVE or INACTIVE or TIMEOUT

Definition at line 71 of file lifecycle_manager_client.cpp.

References nav2::ServiceClient< ServiceT >::wait_for_service().

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pause()

bool nav2_lifecycle_manager::LifecycleManagerClient::pause

(

const std::chrono::nanoseconds

timeout = std::chrono::nanoseconds(-1)

)

Make pause service call.

Returns

true or false

Definition at line 41 of file lifecycle_manager_client.cpp.

References callService().

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reset()

bool nav2_lifecycle_manager::LifecycleManagerClient::reset

(

const std::chrono::nanoseconds

timeout = std::chrono::nanoseconds(-1)

)

Make reset service call.

Returns

true or false

Definition at line 53 of file lifecycle_manager_client.cpp.

References callService().

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resume()

bool nav2_lifecycle_manager::LifecycleManagerClient::resume

(

const std::chrono::nanoseconds

timeout = std::chrono::nanoseconds(-1)

)

Make resume service call.

Returns

true or false

Definition at line 47 of file lifecycle_manager_client.cpp.

References callService().

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shutdown()

bool nav2_lifecycle_manager::LifecycleManagerClient::shutdown

(

const std::chrono::nanoseconds

timeout = std::chrono::nanoseconds(-1)

)

Make shutdown service call.

Returns

true or false

Definition at line 35 of file lifecycle_manager_client.cpp.

References callService().

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startup()

bool nav2_lifecycle_manager::LifecycleManagerClient::startup

(

const std::chrono::nanoseconds

timeout = std::chrono::nanoseconds(-1)

)

Make start up service call.

Returns

true or false

Definition at line 29 of file lifecycle_manager_client.cpp.

References callService().

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

• nav2_lifecycle_manager/include/nav2_lifecycle_manager/lifecycle_manager_client.hpp
• nav2_lifecycle_manager/src/lifecycle_manager_client.cpp