Wrapper class around rclcpp::Node providing interface required for components. More...

#include <node.h>

Public Member Functions
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	get_node_base_interface ()

Protected Member Functions
	Node (const std::string &node_name, const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	Constructs the underlying node with the given parameters.

	Node (const std::string &node_name, const std::string &namespace_, const rclcpp::NodeOptions &options=rclcpp::NodeOptions())
	Constructs the underlying node with the given parameters.

	Node (const Node &)=delete

Node &	operator= (const Node &)=delete

	Node (Node &&)=delete

Node &	operator= (Node &&)=delete

rclcpp::Node &	this_node () noexcept
	Get reference to the underlying rclcpp::Node.

const rclcpp::Node &	this_node () const noexcept
	Get reference to the underlying rclcpp::Node.

rclcpp::Node::SharedPtr	this_node_ptr () const noexcept
	Get shared pointer to the underlying rclcpp::Node.

Detailed Description

Wrapper class around rclcpp::Node providing interface required for components.

When deriving directly from rclcpp::Node, the derived class is unable to obtain shared pointer to the rclcpp::Node, because the construction did not yet finish. Since the constructor might need this pointer to initialize subobjects, it cannot derive from rclcpp::Node directly.

This class wraps the rclcpp::Node in a way that allows obtaining the shared pointer directly in the constructor. It also provides the interface necessary for the derived class to be used as rclcpp component.

Constructor & Destructor Documentation

◆ Node() [1/2]

mrs_lib::Node::Node	(	const std::string &	node_name,
		const rclcpp::NodeOptions &	options = `rclcpp::NodeOptions()`
	)

inlineexplicitprotected

Constructs the underlying node with the given parameters.

See rclcpp::Node for the meaning of individual parameter.

◆ Node() [2/2]

mrs_lib::Node::Node	(	const std::string &	node_name,
		const std::string &	namespace_,
		const rclcpp::NodeOptions &	options = `rclcpp::NodeOptions()`
	)

inlineexplicitprotected

Constructs the underlying node with the given parameters.

See rclcpp::Node for the meaning of individual parameter.

Member Function Documentation

◆ get_node_base_interface()

rclcpp::node_interfaces::NodeBaseInterface::SharedPtr mrs_lib::Node::get_node_base_interface ( )

inline

This method is required for the class to be treated as rclcpp component.

See rclcpp::Node::get_node_base_interface().

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

include/mrs_lib/node.h