Helper functions to interact with a lifecycle node. More...
#include <nav2_util/include/nav2_util/lifecycle_service_client.hpp>
Collaboration diagram for nav2_util::LifecycleServiceClient:
Public Member Functions | |
| LifecycleServiceClient (const std::string &lifecycle_node_name) | |
| template<typename NodeT > | |
| LifecycleServiceClient (const string &lifecycle_node_name, NodeT parent_node) | |
| bool | change_state (const uint8_t transition, const std::chrono::milliseconds transition_timeout=std::chrono::milliseconds(-1), const std::chrono::milliseconds wait_for_service_timeout=std::chrono::milliseconds(5000)) |
| Trigger a state change. More... | |
| uint8_t | get_state (const std::chrono::milliseconds timeout=std::chrono::milliseconds(2000)) |
| Get the current state as a lifecycle_msgs::msg::State id value. More... | |
Protected Attributes | |
| rclcpp::Node::SharedPtr | node_ |
| nav2::ServiceClient< lifecycle_msgs::srv::ChangeState > | change_state_ |
| nav2::ServiceClient< lifecycle_msgs::srv::GetState > | get_state_ |
Detailed Description
Helper functions to interact with a lifecycle node.
Definition at line 34 of file lifecycle_service_client.hpp.
Member Function Documentation
◆ change_state()
| bool nav2_util::LifecycleServiceClient::change_state | ( | const uint8_t | transition, |
| const std::chrono::milliseconds | transition_timeout = std::chrono::milliseconds(-1), |
||
| const std::chrono::milliseconds | wait_for_service_timeout = std::chrono::milliseconds(5000) |
||
| ) |
Trigger a state change.
Throws std::runtime_error on failure
Definition at line 50 of file lifecycle_service_client.cpp.
◆ get_state()
| uint8_t nav2_util::LifecycleServiceClient::get_state | ( | const std::chrono::milliseconds | timeout = std::chrono::milliseconds(2000) | ) |
Get the current state as a lifecycle_msgs::msg::State id value.
Throws std::runtime_error on failure
Definition at line 70 of file lifecycle_service_client.cpp.
The documentation for this class was generated from the following files:
- nav2_util/include/nav2_util/lifecycle_service_client.hpp
- nav2_util/src/lifecycle_service_client.cpp
