C++ Helper Classes¶

template<typename MessageT, typename AllocT = std::allocator<void>> class OrchestratedPublisher¶

Public Types

using PublisherPtr = rclcpp_lifecycle::LifecyclePublisher<MessageT, AllocT>::SharedPtr¶

using SharedPtr = std::shared_ptr<OrchestratedPublisher<MessageT, AllocT>>¶

Public Functions

inline explicit OrchestratedPublisher(PublisherPtr publisher)¶

template<typename M> inline void publish(M msg)¶

inline void reset_publish_cnt()¶

inline std::size_t get_publish_cnt()¶

inline auto get_topic_name()¶

inline void on_activate()¶

inline void on_deactivate()¶

class OrchestratorHelper¶

Public Types

using SharedPtr = std::shared_ptr<OrchestratorHelper>¶

Public Functions

inline explicit OrchestratorHelper(LifecycleNodePtr node)¶

template<typename MessageT, typename ...Params> inline auto create_publisher(Params&&... params)¶

template<typename MessageT, typename AllocT> inline auto wrap_publisher(LifecyclePublisherPtr<MessageT, AllocT> publisher)¶

template<typename CallbackT, typename ...P> inline std::function<void(void)> wrap_callback(CallbackT &&f, P&&... publishers)¶

template<typename MessageT, typename CallbackT, typename ...P> inline std::function<void(typename MessageT::ConstSharedPtr)> wrap_callback(CallbackT &&f, P&&... publishers)¶

inline void publish_status(const std::vector<std::string> &omitted_outputs = {}, int debug_id = -1)¶

inline void advertise()¶

inline void on_activate()¶

inline void on_deactivate()¶

inline void on_cleanup()¶