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Node#

agnocast::Node#

Agnocast-only node. Drop-in replacement for rclcpp::Node in pure-Agnocast processes.

Node() (constructor)#

cpp Node::Node(std::string &node_name, rclcpp::NodeOptions &options)

Construct a node with the given name.

Parameter Default Description
node_name — Name of the node.
options rclcpp::NodeOptions() Node options.

Node() (constructor) [overload 2]#

cpp Node::Node(std::string &node_name, std::string &namespace_, rclcpp::NodeOptions &options)

Construct a node with the given name and namespace.

Parameter Default Description
node_name — Name of the node.
namespace_ — Namespace of the node.
options rclcpp::NodeOptions() Node options.

get_name()#

cpp std::string Node::get_name() const

Return the name of the node.
Returns Node name.

get_logger()#

cpp rclcpp::Logger Node::get_logger() const

Return the logger associated with this node.
Returns Logger instance.

get_namespace()#

cpp std::string Node::get_namespace() const

Return the namespace of the node.
Returns Node namespace.

get_fully_qualified_name()#

cpp std::string Node::get_fully_qualified_name() const

Return the fully qualified name (namespace + node name).
Returns Fully qualified name string.

create_callback_group()#

cpp rclcpp::CallbackGroup::SharedPtr Node::create_callback_group(rclcpp::CallbackGroupType group_type, bool automatically_add_to_executor_with_node)

Create a callback group.

Parameter Default Description
group_type — Type of callback group.
automatically_add_to_executor_with_node true Whether to auto-add to executor.
Returns Shared pointer to the created callback group.

for_each_callback_group()#

cpp void Node::for_each_callback_group(rclcpp::node_interfaces::NodeBaseInterface::CallbackGroupFunction &func)

Iterate over all callback groups, invoking the given function on each.

declare_parameter()#

cpp rclcpp::ParameterValue & Node::declare_parameter(std::string &name, rclcpp::ParameterValue &default_value, rcl_interfaces::msg::ParameterDescriptor &descriptor, bool ignore_override)

Declare a parameter with a default value.

Parameter Default Description
name — Parameter name.
default_value — Default value.
descriptor rcl_interfaces::msg::ParameterDescriptor{} Optional descriptor.
ignore_override false If true, ignore launch-file overrides.
Returns The parameter value.

declare_parameter() [overload 2]#

cpp rclcpp::ParameterValue & Node::declare_parameter(std::string &name, rclcpp::ParameterType type, rcl_interfaces::msg::ParameterDescriptor &descriptor, bool ignore_override)

Declare a parameter with a given type (no default value).

Parameter Default Description
name — Parameter name.
type — Parameter type.
descriptor rcl_interfaces::msg::ParameterDescriptor{} Optional descriptor.
ignore_override false If true, ignore launch-file overrides.
Returns The parameter value.

declare_parameter() [overload 3]#

cpp auto Node::declare_parameter(std::string &name, ParameterT &default_value, rcl_interfaces::msg::ParameterDescriptor &descriptor, bool ignore_override)

Declare a parameter with a typed default value.

Template Parameter Description
ParameterT C++ type of the parameter.
Parameter Default
name —
default_value —
descriptor rcl_interfaces::msg::ParameterDescriptor{}
ignore_override false
Returns The parameter value.

declare_parameter() [overload 4]#

cpp auto Node::declare_parameter(std::string &name, rcl_interfaces::msg::ParameterDescriptor &descriptor, bool ignore_override)

Declare a parameter using only its type (default-constructed).

Template Parameter Description
ParameterT C++ type of the parameter.
Parameter Default
name —
descriptor rcl_interfaces::msg::ParameterDescriptor{}
ignore_override false
Returns The parameter value.

has_parameter()#

cpp bool Node::has_parameter(std::string &name) const

Check whether a parameter has been declared.
Returns True if the parameter exists.

undeclare_parameter()#

cpp void Node::undeclare_parameter(std::string &name)

Undeclare a previously declared parameter.

get_parameter()#

cpp rclcpp::Parameter Node::get_parameter(std::string &name) const

Get a parameter by name.
Returns The requested parameter.

get_parameter() [overload 2]#

cpp bool Node::get_parameter(std::string &name, rclcpp::Parameter &parameter) const

Get a parameter by name, returning success status via bool.
Returns True if the parameter was found.

get_parameter() [overload 3]#

cpp bool Node::get_parameter(std::string &name, ParameterT &parameter) const

Get a parameter and extract its typed value.

Template Parameter Description
ParameterT C++ type to extract.
Returns True if the parameter was found.

get_parameters()#

cpp std::vector<rclcpp::Parameter> Node::get_parameters(std::vector<std::string> &names) const

Get multiple parameters by name.
Returns Vector of requested parameters.

get_parameters() [overload 2]#

cpp bool Node::get_parameters(std::string &prefix, std::map<std::string, ParameterT> &values) const

Get parameters matching a prefix into a typed map.

Template Parameter Description
ParameterT C++ type to extract.
Returns True if any parameters matched the prefix.

set_parameter()#

cpp rcl_interfaces::msg::SetParametersResult Node::set_parameter(rclcpp::Parameter &parameter)

Set a single parameter.
Returns Result of the set operation.

set_parameters()#

cpp std::vector<rcl_interfaces::msg::SetParametersResult> Node::set_parameters(std::vector<rclcpp::Parameter> &parameters)

Set multiple parameters, one at a time.
Returns Vector of results.

set_parameters_atomically()#

cpp rcl_interfaces::msg::SetParametersResult Node::set_parameters_atomically(std::vector<rclcpp::Parameter> &parameters)

Set multiple parameters atomically (all-or-nothing).
Returns Result of the atomic operation.

describe_parameter()#

cpp rcl_interfaces::msg::rcl_interfaces::msg::ParameterDescriptor Node::describe_parameter(std::string &name) const

Describe a single parameter.
Returns Parameter descriptor.

describe_parameters()#

cpp std::vector<rcl_interfaces::msg::rcl_interfaces::msg::ParameterDescriptor> Node::describe_parameters(std::vector<std::string> &names) const

Describe multiple parameters.
Returns Vector of parameter descriptors.

get_parameter_types()#

cpp std::vector<uint8_t> Node::get_parameter_types(std::vector<std::string> &names) const

Get the types of the given parameters.
Returns Vector of parameter type identifiers.

list_parameters()#

cpp rcl_interfaces::msg::ListParametersResult Node::list_parameters(std::vector<std::string> &prefixes, uint64_t depth) const

List parameters matching the given prefixes up to the given depth.
Returns Matching parameter names and prefixes.

add_on_set_parameters_callback()#

cpp rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr Node::add_on_set_parameters_callback(rclcpp::node_interfaces::OnSetParametersCallbackType callback)

Register a callback invoked before parameters are set.
Returns Handle to the registered callback.

remove_on_set_parameters_callback()#

cpp void Node::remove_on_set_parameters_callback(rclcpp::node_interfaces::OnSetParametersCallbackHandle *handler)

Remove a previously registered on-set-parameters callback.

get_clock()#

cpp rclcpp::Clock::SharedPtr Node::get_clock()

Get the clock used by this node.
Returns Shared pointer to the clock.

get_clock() [overload 2]#

cpp rclcpp::Clock::ConstSharedPtr Node::get_clock() const

Get the clock used by this node (const).
Returns Shared pointer to the clock.

now()#

cpp rclcpp::Time Node::now() const

Return the current time according to this node's clock.
Returns Current time.

count_publishers()#

cpp size_t Node::count_publishers(std::string &topic_name) const

Return the number of publishers on a topic.
Returns Publisher count.

count_subscribers()#

cpp size_t Node::count_subscribers(std::string &topic_name) const

Return the number of subscribers on a topic.
Returns Subscriber count.

create_publisher()#

cpp agnocast::Publisher::SharedPtr Node::create_publisher(std::string &topic_name, rclcpp::QoS &qos, agnocast::PublisherOptions options)

Create a publisher (QoS overload).

Template Parameter Description
MessageT ROS message type.
Parameter Default
topic_name —
qos —
options agnocast::PublisherOptions{}
Returns Shared pointer to the created publisher.

create_publisher() [overload 2]#

cpp agnocast::Publisher::SharedPtr Node::create_publisher(std::string &topic_name, size_t queue_size, agnocast::PublisherOptions options)

Create a publisher (queue-size overload).

Template Parameter Description
MessageT ROS message type.
Parameter Default
topic_name —
queue_size —
options agnocast::PublisherOptions{}
Returns Shared pointer to the created publisher.

create_subscription()#

cpp agnocast::Subscription::SharedPtr Node::create_subscription(std::string &topic_name, rclcpp::QoS &qos, Func &&callback, agnocast::SubscriptionOptions options)

Create a subscription (QoS overload).

Template Parameter Description
MessageT ROS message type.
Func Callback type.
Parameter Default
topic_name —
qos —
callback —
options agnocast::SubscriptionOptions{}
Returns Shared pointer to the created subscription.

create_subscription() [overload 2]#

cpp agnocast::Subscription::SharedPtr Node::create_subscription(std::string &topic_name, size_t queue_size, Func &&callback, agnocast::SubscriptionOptions options)

Create a subscription (queue-size overload).

Template Parameter Description
MessageT ROS message type.
Func Callback type.
Parameter Default
topic_name —
queue_size —
callback —
options agnocast::SubscriptionOptions{}
Returns Shared pointer to the created subscription.

create_subscription() [overload 3]#

cpp agnocast::PollingSubscriber::SharedPtr Node::create_subscription(std::string &topic_name, size_t qos_history_depth)

Create a polling subscription (history-depth overload).

Template Parameter Description
MessageT ROS message type.
Parameter Description
topic_name Topic name.
qos_history_depth History depth for the QoS profile.
Returns Shared pointer to the created polling subscription.

create_subscription() [overload 4]#

cpp agnocast::PollingSubscriber::SharedPtr Node::create_subscription(std::string &topic_name, rclcpp::QoS &qos)

Create a polling subscription (QoS overload).

Template Parameter Description
MessageT ROS message type.
Parameter Description
topic_name Topic name.
qos Quality of service profile.
Returns Shared pointer to the created polling subscription.

create_wall_timer()#

cpp agnocast::WallTimer<CallbackT>::SharedPtr Node::create_wall_timer(std::chrono::duration<DurationRepT, DurationT> period, CallbackT callback, rclcpp::CallbackGroup::SharedPtr group, bool autostart)

Create a wall timer.

Template Parameter Description
CallbackT Callable type for the callback.
Parameter Default
period —
callback —
group nullptr
autostart true
Returns Shared pointer to the created timer.

create_timer()#

cpp agnocast::GenericTimer<CallbackT>::SharedPtr Node::create_timer(std::chrono::duration<DurationRepT, DurationT> period, CallbackT callback, rclcpp::CallbackGroup::SharedPtr group, bool autostart)

Create a timer using the node's clock.

Template Parameter Description
CallbackT Callable type for the callback.
Parameter Default
period —
callback —
group nullptr
autostart true
Returns Shared pointer to the created timer.

create_client()#

cpp agnocast::Client::SharedPtr Node::create_client(std::string &service_name, rclcpp::QoS &qos, rclcpp::CallbackGroup::SharedPtr group)

Create a service client.

Parameter Default Description
service_name — Service name.
qos rclcpp::ServicesQoS() Quality of service profile.
group nullptr Callback group (nullptr = default).
Returns Shared pointer to the created client.

create_service()#

cpp agnocast::Service::SharedPtr Node::create_service(std::string &service_name, Func &&callback, rclcpp::QoS &qos, rclcpp::CallbackGroup::SharedPtr group)

Create a service server.

Template Parameter Description
Func Callable with signature void(const agnocast::ipc_shared_ptr&,
agnocast::ipc_shared_ptr&).
Parameter Default
service_name —
callback —
qos rclcpp::ServicesQoS()
group nullptr
Returns Shared pointer to the created service.