Added features to rclcpp packages (#1106)
* Added features to rclcpp packages Signed-off-by: ahcorde <ahcorde@gmail.com> * Added feedback Signed-off-by: ahcorde <ahcorde@gmail.com> * Added feedback and improved lifecycle docblock Signed-off-by: ahcorde <ahcorde@gmail.com> * Added feedback Signed-off-by: ahcorde <ahcorde@gmail.com> * Added ffedback Signed-off-by: ahcorde <ahcorde@gmail.com> * Fixing error Signed-off-by: ahcorde <ahcorde@gmail.com>
This commit is contained in:
Alejandro Hernández Cordero
GitHub
parent
0dd14baa32
commit
731558aafb
8 changed files with 321 additions and 11 deletions
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@ -1,6 +1,8 @@
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# `rclcpp`
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The ROS client library in C++. Visit the [rclcpp API documentation](http://docs.ros2.org/latest/api/rclcpp/) for a complete list of its main components.
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The ROS client library in C++.
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Visit the [rclcpp API documentation](http://docs.ros2.org/latest/api/rclcpp/) for a complete list of its main components and features.
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## Quality Declaration
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@ -1,6 +1,8 @@
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# `rclcpp_action`
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Adds action APIs for C++. Visit the [rclcpp API documentation](http://docs.ros2.org/latest/api/rclcpp_action/) for a complete list of its main components or the [design document](http://design.ros2.org/articles/actions.html).
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Adds action APIs for C++.
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Visit the [rclcpp_action API documentation](http://docs.ros2.org/latest/api/rclcpp_action/) for a complete list of its main components and features. For more information about Actions in ROS 2, see the [design document](http://design.ros2.org/articles/actions.html).
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## Quality Declaration
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@ -2,6 +2,8 @@
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Package containing tools for dynamically loadable components.
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Visit the [rclcpp_components API documentation](http://docs.ros2.org/latest/api/rclcpp_components/) for a complete list of its main components and features.
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## Quality Declaration
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This package claims to be in the **Quality Level 4** category, see the [Quality Declaration](QUALITY_DECLARATION.md) for more details.
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@ -12,6 +12,32 @@
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// See the License for the specific language governing permissions and
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// limitations under the License.
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/** \mainpage rclcpp_components: Package containing tools for dynamically loadable components.
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*
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* - ComponentManager: Node to manage components. It has the services to load, unload and list
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* current components.
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* - rclcpp_components/component_manager.hpp)
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* - Node factory: The NodeFactory interface is used by the class loader to instantiate components.
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* - rclcpp_components/node_factory.hpp)
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* - It allows for classes not derived from `rclcpp::Node` to be used as components.
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* - It allows derived constructors to be called when components are loaded.
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*
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* Some useful abstractions and utilities:
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* - [RCLCPP_COMPONENTS_REGISTER_NODE: Register a component that can be dynamically loaded
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* at runtime.
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* - (include/rclcpp_components/register_node_macro.hpp)
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*
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* Some useful internal abstractions and utilities:
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* - Macros for controlling symbol visibility on the library
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* - rclcpp_components/visibility_control.h
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*
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* Package containing CMake tools for register components:
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* - `rclcpp_components_register_node` Register an rclcpp component with the ament resource index
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* and create an executable.
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* - `rclcpp_components_register_nodes` Register an rclcpp component with the ament resource index.
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* The passed library can contain multiple nodes each registered via macro.
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*/
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#ifndef RCLCPP_COMPONENTS__COMPONENT_MANAGER_HPP__
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#define RCLCPP_COMPONENTS__COMPONENT_MANAGER_HPP__
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@ -1,6 +1,8 @@
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# `rclcpp_lifecycle`
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Package containing a prototype for lifecycle implementation. Visit the [design document](https://design.ros2.org/articles/node_lifecycle.html) for more information about this package.
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Package containing a prototype for lifecycle implementation.
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Visit the [rclcpp_lifecycle API documentation](http://docs.ros2.org/latest/api/rclcpp_lifecycle/) for a complete list of its main components and features. For more information about LifeCycle in ROS 2, see the [design document](http://design.ros2.org/articles/node_lifecycle.html).
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## Quality Declaration
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@ -12,6 +12,27 @@
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// See the License for the specific language governing permissions and
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// limitations under the License.
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/** \mainpage rclcpp_lifecycle: Package containing a prototype for lifecycle implementation.
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*
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* - Lifecycle states: Define the State class. There are 4 primary states: Unconfigured, Inactive,
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* Active and Finalized. There are also 6 transition states which are intermediate states during
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* a requested transition. Configuring, CleaningUp, ShuttingDown, Activating, Deactivating and
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* ErrorProcessing.
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* - rclcpp_lifecycle/state.hpp
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* - Lifecycle transitions Define the Transition class. There are 7 transitions exposed to a
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* supervisory process, they are: create, configure, cleanup, activate, deactivate, shutdown and
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* destroy.
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* - rclcpp_lifecycle/transition.hpp
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* - Lifecycle publisher creates a publisher that allows enabling and disabling message publication.
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* - rclcpp_lifecycle/publisher.hpp
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* - Lifecycle node: An optional interface class for life cycle node implementations.
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* - rclcpp_lifecycle/lifecycle_node.hpp
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*
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* Some useful internal abstractions and utilities:
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* - Macros for controlling symbol visibility on the library
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* - rclcpp_lifecycle/visibility_control.h
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*/
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#ifndef RCLCPP_LIFECYCLE__LIFECYCLE_NODE_HPP_
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#define RCLCPP_LIFECYCLE__LIFECYCLE_NODE_HPP_
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virtual ~LifecycleNode();
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/// Get the name of the node.
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// \return The name of the node.
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/**
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* \return The name of the node.
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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const char *
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get_name() const;
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/// Get the namespace of the node.
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// \return The namespace of the node.
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/// Get the namespace of the node
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/**
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* \return The namespace of the node.
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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const char *
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get_namespace() const;
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/// Get the logger of the node.
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/** \return The logger of the node. */
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/**
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* \return The logger of the node.
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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rclcpp::Logger
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get_logger() const;
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/// Create and return a callback group.
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/**
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* \param[in] group_type callback group type to create by this method.
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* \return a callback group
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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rclcpp::CallbackGroup::SharedPtr
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create_callback_group(rclcpp::CallbackGroupType group_type);
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/// Return the list of callback groups in the node.
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/**
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* \return list of callback groups in the node.
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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const std::vector<rclcpp::CallbackGroup::WeakPtr> &
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get_callback_groups() const;
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CallbackT callback,
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rclcpp::CallbackGroup::SharedPtr group = nullptr);
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/* Create and return a Client. */
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/// Create and return a Client.
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/**
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* \sa rclcpp::Node::create_client
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*/
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template<typename ServiceT>
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typename rclcpp::Client<ServiceT>::SharedPtr
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create_client(
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const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
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rclcpp::CallbackGroup::SharedPtr group = nullptr);
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/* Create and return a Service. */
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/// Create and return a Service.
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/**
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* \sa rclcpp::Node::create_service
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*/
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template<typename ServiceT, typename CallbackT>
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typename rclcpp::Service<ServiceT>::SharedPtr
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create_service(
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set_on_parameters_set_callback(
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rclcpp_lifecycle::LifecycleNode::OnParametersSetCallbackType callback);
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/// Return a vector of existing node names (string).
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/**
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* \sa rclcpp::Node::get_node_names
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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std::vector<std::string>
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get_node_names() const;
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/// Return a map of existing topic names to list of topic types.
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/**
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* \sa rclcpp::Node::get_topic_names_and_types
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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std::map<std::string, std::vector<std::string>>
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get_topic_names_and_types(bool no_demangle = false) const;
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/// Return a map of existing service names to list of topic types.
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/**
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* \sa rclcpp::Node::get_service_names_and_types
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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std::map<std::string, std::vector<std::string>>
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get_service_names_and_types() const;
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/// Return the number of publishers that are advertised on a given topic.
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/**
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* \sa rclcpp::Node::count_publishers
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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size_t
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count_publishers(const std::string & topic_name) const;
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/// Return the number of subscribers who have created a subscription for a given topic.
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/**
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* \sa rclcpp::Node::count_subscribers
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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size_t
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count_subscribers(const std::string & topic_name) const;
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rclcpp::Event::SharedPtr event,
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std::chrono::nanoseconds timeout);
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/// Get a clock as a non-const shared pointer which is managed by the node.
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/**
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* \sa rclcpp::node_interfaces::NodeClock::get_clock
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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rclcpp::Clock::SharedPtr
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get_clock();
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/// Get a clock as a const shared pointer which is managed by the node.
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/**
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* \sa rclcpp::node_interfaces::NodeClock::get_clock
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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rclcpp::Clock::ConstSharedPtr
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get_clock() const;
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/// Returns current time from the time source specified by clock_type.
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/**
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* \sa rclcpp::Clock::now
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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rclcpp::Time
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now() const;
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/// Return the Node's internal NodeBaseInterface implementation.
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/**
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* \sa rclcpp::Node::get_node_base_interface
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
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get_node_base_interface();
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/// Return the Node's internal NodeClockInterface implementation.
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/**
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* \sa rclcpp::Node::get_node_clock_interface
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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rclcpp::node_interfaces::NodeClockInterface::SharedPtr
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get_node_clock_interface();
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/// Return the Node's internal NodeGraphInterface implementation.
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/**
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* \sa rclcpp::Node::get_node_graph_interface
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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rclcpp::node_interfaces::NodeGraphInterface::SharedPtr
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get_node_graph_interface();
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/// Return the Node's internal NodeLoggingInterface implementation.
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/**
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* \sa rclcpp::Node::get_node_logging_interface
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr
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get_node_logging_interface();
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/// Return the Node's internal NodeTimersInterface implementation.
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/**
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* \sa rclcpp::Node::get_node_timers_interface
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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rclcpp::node_interfaces::NodeTimersInterface::SharedPtr
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get_node_timers_interface();
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/// Return the Node's internal NodeTopicsInterface implementation.
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/**
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* \sa rclcpp::Node::get_node_topics_interface
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr
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get_node_topics_interface();
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/// Return the Node's internal NodeServicesInterface implementation.
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/**
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* \sa rclcpp::Node::get_node_services_interface
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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rclcpp::node_interfaces::NodeServicesInterface::SharedPtr
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get_node_services_interface();
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/// Return the Node's internal NodeParametersInterface implementation.
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/**
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* \sa rclcpp::Node::get_node_parameters_interface
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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rclcpp::node_interfaces::NodeParametersInterface::SharedPtr
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get_node_parameters_interface();
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/// Return the Node's internal NodeParametersInterface implementation.
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/**
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* \sa rclcpp::Node::get_node_time_source_interface
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr
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get_node_time_source_interface();
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/// Return the Node's internal NodeWaitablesInterface implementation.
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/**
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* \sa rclcpp::Node::get_node_waitables_interface
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr
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get_node_waitables_interface();
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/// Return the NodeOptions used when creating this node.
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/**
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* \sa rclcpp::Node::get_node_options
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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const rclcpp::NodeOptions &
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get_node_options() const;
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//
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// LIFECYCLE COMPONENTS
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//
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/// Return the current State.
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/**
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* \return the current state
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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const State &
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get_current_state();
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/// Return a list with the available states.
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/**
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* \return list with the available states.
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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std::vector<State>
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get_available_states();
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/// Return a list with the available transitions.
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/**
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* \return list with the available transitions.
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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std::vector<Transition>
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get_available_transitions();
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/// trigger the specified transition
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/// Trigger the specified transition.
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/*
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* return the new state after this transition
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* \return the new state after this transition
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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const State &
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trigger_transition(const Transition & transition);
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/// Trigger the specified transition and get the callback return code.
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/*
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* \param[out] cb_return_code transition callback return code
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* \return the new state after this transition
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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const State &
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trigger_transition(
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const Transition & transition, LifecycleNodeInterface::CallbackReturn & cb_return_code);
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/// Trigger the specified transition based on an id.
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/*
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* \return the new state after this transition
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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const State &
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trigger_transition(uint8_t transition_id);
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/// Trigger the specified transition based on an id and get the callback return code.
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/*
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* \param[out] cb_return_code transition callback return code
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* \return the new state after this transition
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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const State &
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trigger_transition(
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uint8_t transition_id, LifecycleNodeInterface::CallbackReturn & cb_return_code);
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/// Trigger the configure transition
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/*
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* \param[out] cb_return_code transition callback return code.
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* \return the new state after this transition
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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const State &
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configure();
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/// Trigger the configure transition and get the callback return code.
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/*
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* \param[out] cb_return_code transition callback return code
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* \return the new state after this transition
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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const State &
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configure(LifecycleNodeInterface::CallbackReturn & cb_return_code);
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/// Trigger the cleanup transition.
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/*
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* \return the new state after this transition
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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const State &
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cleanup();
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/// Trigger the cleanup transition and get the callback return code.
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/*
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* \param[out] cb_return_code transition callback return code
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* \return the new state after this transition
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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const State &
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cleanup(LifecycleNodeInterface::CallbackReturn & cb_return_code);
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/// Trigger the activate transition.
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/*
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* \return the new state after this transition
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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const State &
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activate();
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/// Trigger the activate transition and get the callback return code.
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/*
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* \param[out] cb_return_code transition callback return code
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* \return the new state after this transition
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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const State &
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activate(LifecycleNodeInterface::CallbackReturn & cb_return_code);
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/// Trigger the deactivate transition
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/*
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* \return the new state after this transition
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*/
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RCLCPP_LIFECYCLE_PUBLIC
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const State &
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deactivate();
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/// Trigger the deactivate transition and get the callback return code.
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/*
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* \param[out] cb_return_code transition callback return code
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* \return the new state after this transition
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*/
|
||||
RCLCPP_LIFECYCLE_PUBLIC
|
||||
const State &
|
||||
deactivate(LifecycleNodeInterface::CallbackReturn & cb_return_code);
|
||||
|
||||
/// Trigger the shutdown transition
|
||||
/*
|
||||
* \return the new state after this transition
|
||||
*/
|
||||
RCLCPP_LIFECYCLE_PUBLIC
|
||||
const State &
|
||||
shutdown();
|
||||
|
||||
/// Trigger the shutdown transition and get the callback return code.
|
||||
/*
|
||||
* \param[out] cb_return_code transition callback return code
|
||||
* \return the new state after this transition
|
||||
*/
|
||||
RCLCPP_LIFECYCLE_PUBLIC
|
||||
const State &
|
||||
shutdown(LifecycleNodeInterface::CallbackReturn & cb_return_code);
|
||||
|
||||
/// Register the configure callback
|
||||
/**
|
||||
* This callback will be called when the transition to this state is triggered
|
||||
* \param[in] fcn callback function to call
|
||||
* \return always true
|
||||
*/
|
||||
RCLCPP_LIFECYCLE_PUBLIC
|
||||
bool
|
||||
register_on_configure(std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn);
|
||||
|
||||
/// Register the cleanup callback
|
||||
/**
|
||||
* This callback will be called when the transition to this state is triggered
|
||||
* \param[in] fcn callback function to call
|
||||
* \return always true
|
||||
*/
|
||||
RCLCPP_LIFECYCLE_PUBLIC
|
||||
bool
|
||||
register_on_cleanup(std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn);
|
||||
|
||||
/// Register the shutdown callback
|
||||
/**
|
||||
* This callback will be called when the transition to this state is triggered
|
||||
* \param[in] fcn callback function to call
|
||||
* \return always true
|
||||
*/
|
||||
RCLCPP_LIFECYCLE_PUBLIC
|
||||
bool
|
||||
register_on_shutdown(std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn);
|
||||
|
||||
/// Register the activate callback
|
||||
/**
|
||||
* This callback will be called when the transition to this state is triggered
|
||||
* \param[in] fcn callback function to call
|
||||
* \return always true
|
||||
*/
|
||||
RCLCPP_LIFECYCLE_PUBLIC
|
||||
bool
|
||||
register_on_activate(std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn);
|
||||
|
||||
/// Register the deactivate callback
|
||||
/**
|
||||
* This callback will be called when the transition to this state is triggered
|
||||
* \param[in] fcn callback function to call
|
||||
* \return always true
|
||||
*/
|
||||
RCLCPP_LIFECYCLE_PUBLIC
|
||||
bool
|
||||
register_on_deactivate(std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn);
|
||||
|
||||
/// Register the error callback
|
||||
/**
|
||||
* This callback will be called when the transition to this state is triggered
|
||||
* \param[in] fcn callback function to call
|
||||
* \return always true
|
||||
*/
|
||||
RCLCPP_LIFECYCLE_PUBLIC
|
||||
bool
|
||||
register_on_error(std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn);
|
||||
|
|
|
|||
|
|
@ -27,18 +27,33 @@ typedef struct rcl_lifecycle_state_t rcl_lifecycle_state_t;
|
|||
namespace rclcpp_lifecycle
|
||||
{
|
||||
|
||||
/// Abstract class for the Lifecycle's states.
|
||||
/**
|
||||
* There are 4 primary states: Unconfigured, Inactive, Active and Finalized.
|
||||
*/
|
||||
class State
|
||||
{
|
||||
public:
|
||||
RCLCPP_LIFECYCLE_PUBLIC
|
||||
explicit State(rcutils_allocator_t allocator = rcutils_get_default_allocator());
|
||||
|
||||
/// State constructor.
|
||||
/**
|
||||
* \param[in] id of the state
|
||||
* \param[in] label of the state
|
||||
* \param[in] allocator a valid allocator used to initialized the state.
|
||||
*/
|
||||
RCLCPP_LIFECYCLE_PUBLIC
|
||||
State(
|
||||
uint8_t id,
|
||||
const std::string & label,
|
||||
rcutils_allocator_t allocator = rcutils_get_default_allocator());
|
||||
|
||||
/// State constructor.
|
||||
/**
|
||||
* \param[in] rcl_lifecycle_state_handle structure with the state details
|
||||
* \param[in] allocator a valid allocator used to initialized the state.
|
||||
*/
|
||||
RCLCPP_LIFECYCLE_PUBLIC
|
||||
explicit State(
|
||||
const rcl_lifecycle_state_t * rcl_lifecycle_state_handle,
|
||||
|
|
@ -53,10 +68,18 @@ public:
|
|||
RCLCPP_LIFECYCLE_PUBLIC
|
||||
State & operator=(const State & rhs);
|
||||
|
||||
/// Return the id.
|
||||
/**
|
||||
* \return id of the state
|
||||
*/
|
||||
RCLCPP_LIFECYCLE_PUBLIC
|
||||
uint8_t
|
||||
id() const;
|
||||
|
||||
/// Return the label.
|
||||
/**
|
||||
* \return label of state
|
||||
*/
|
||||
RCLCPP_LIFECYCLE_PUBLIC
|
||||
std::string
|
||||
label() const;
|
||||
|
|
|
|||
|
|
@ -28,24 +28,48 @@ typedef struct rcl_lifecycle_transition_t rcl_lifecycle_transition_t;
|
|||
namespace rclcpp_lifecycle
|
||||
{
|
||||
|
||||
/// The Transition class abstract the Lifecycle's states.
|
||||
/**
|
||||
* There are 7 transitions exposed to a supervisory process, they are: create, configure,
|
||||
* cleanup, activate, deactivate, shutdown and destroy.
|
||||
*/
|
||||
class Transition
|
||||
{
|
||||
public:
|
||||
RCLCPP_LIFECYCLE_PUBLIC
|
||||
Transition() = delete;
|
||||
|
||||
/// Transition constructor.
|
||||
/**
|
||||
* \param[in] id of the transition
|
||||
* \param[in] label of the transition
|
||||
* \param[in] allocator a valid allocator used to initialized the state.
|
||||
*/
|
||||
RCLCPP_LIFECYCLE_PUBLIC
|
||||
explicit Transition(
|
||||
uint8_t id,
|
||||
const std::string & label = "",
|
||||
rcutils_allocator_t allocator = rcutils_get_default_allocator());
|
||||
|
||||
/// Transition constructor.
|
||||
/**
|
||||
* \param[in] id of the transition
|
||||
* \param[in] label of the transition
|
||||
* \param[in] start state of the transition
|
||||
* \param[in] goal state of the transition
|
||||
* \param[in] allocator a valid allocator used to initialized the state.
|
||||
*/
|
||||
RCLCPP_LIFECYCLE_PUBLIC
|
||||
Transition(
|
||||
uint8_t id, const std::string & label,
|
||||
State && start, State && goal,
|
||||
rcutils_allocator_t allocator = rcutils_get_default_allocator());
|
||||
|
||||
/// Transition constructor.
|
||||
/**
|
||||
* \param[in] rcl_lifecycle_transition_handle structure with the transition details
|
||||
* \param[in] allocator a valid allocator used to initialized the state.
|
||||
*/
|
||||
RCLCPP_LIFECYCLE_PUBLIC
|
||||
explicit Transition(
|
||||
const rcl_lifecycle_transition_t * rcl_lifecycle_transition_handle,
|
||||
|
|
@ -60,18 +84,34 @@ public:
|
|||
RCLCPP_LIFECYCLE_PUBLIC
|
||||
Transition & operator=(const Transition & rhs);
|
||||
|
||||
/// Return the id.
|
||||
/**
|
||||
* \return id of the state
|
||||
*/
|
||||
RCLCPP_LIFECYCLE_PUBLIC
|
||||
uint8_t
|
||||
id() const;
|
||||
|
||||
/// Return the label.
|
||||
/**
|
||||
* \return label of the transition
|
||||
*/
|
||||
RCLCPP_LIFECYCLE_PUBLIC
|
||||
std::string
|
||||
label() const;
|
||||
|
||||
/// Return the start state of the transition.
|
||||
/**
|
||||
* \return start state of the transition.
|
||||
*/
|
||||
RCLCPP_LIFECYCLE_PUBLIC
|
||||
State
|
||||
start_state() const;
|
||||
|
||||
/// Return the goal state of the transition.
|
||||
/**
|
||||
* \return goal state of the transition.
|
||||
*/
|
||||
RCLCPP_LIFECYCLE_PUBLIC
|
||||
State
|
||||
goal_state() const;
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue