Skip to content

Namespace nebula::agnocast_wrapper

Namespace List > nebula > agnocast_wrapper

Namespaces

Type Name
namespace diagnostic_updater
namespace message_filters

Classes

Type Name
class Client <typename ServiceT>
class Node
Node class for the non-Agnocast build.
class ROS2Client <typename ServiceT>
class ROS2Service <typename ServiceT>
class Service <typename ServiceT>
class StaticTransformBroadcaster
class TransformBroadcaster
class TransformListener

Public Types

Type Name
typedef tf2_ros::Buffer Buffer
typedef rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType OnSetParametersCallbackType

Public Attributes

Type Name
constexpr bool is_message_ptr_service_callback_v = /* multi line expression */
constexpr bool is_shared_ptr_service_callback_v = /* multi line expression */

Public Functions

Type Name
nebula::agnocast_wrapper::Client< ServiceT >::SharedPtr create_client (rclcpp::Node * node, const std::string & service_name, const rclcpp::QoS & qos=rclcpp::ServicesQoS(), rclcpp::CallbackGroup::SharedPtr group=nullptr)
nebula::agnocast_wrapper::Service< ServiceT >::SharedPtr create_service (rclcpp::Node * node, const std::string & service_name, Func && callback, const rclcpp::QoS & qos=rclcpp::ServicesQoS(), rclcpp::CallbackGroup::SharedPtr group=nullptr)
rclcpp::TimerBase::SharedPtr create_timer (Node * node, rclcpp::Clock::SharedPtr clock, rclcpp::Duration period, CallbackT && callback, rclcpp::CallbackGroup::SharedPtr group=nullptr)
Create a timer driven by an explicit clock (non-Agnocast build).
bool ok ()
Mode-agnostic replacement for rclcpp::ok() (non-Agnocast build).
void set_period (const rclcpp::TimerBase::SharedPtr & timer, std::chrono::nanoseconds period)
Set the timer period (non-Agnocast build).
std::shared_ptr< rclcpp::Node > to_rclcpp_node (const std::shared_ptr< T > & node)
Get the underlying rclcpp::Node from an agnocast_wrapper::Node .

Public Types Documentation

typedef Buffer

using nebula::agnocast_wrapper::Buffer = typedef tf2_ros::Buffer;

typedef OnSetParametersCallbackType

using nebula::agnocast_wrapper::OnSetParametersCallbackType = typedef rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType;

Public Attributes Documentation

variable is_message_ptr_service_callback_v

constexpr bool nebula::agnocast_wrapper::is_message_ptr_service_callback_v;

variable is_shared_ptr_service_callback_v

constexpr bool nebula::agnocast_wrapper::is_shared_ptr_service_callback_v;

Public Functions Documentation

function create_client

template<typename ServiceT>
nebula::agnocast_wrapper::Client < ServiceT >::SharedPtr nebula::agnocast_wrapper::create_client (
    rclcpp::Node * node,
    const std::string & service_name,
    const rclcpp::QoS & qos=rclcpp::ServicesQoS(),
    rclcpp::CallbackGroup::SharedPtr group=nullptr
)

function create_service

template<typename ServiceT, typename Func>
nebula::agnocast_wrapper::Service < ServiceT >::SharedPtr nebula::agnocast_wrapper::create_service (
    rclcpp::Node * node,
    const std::string & service_name,
    Func && callback,
    const rclcpp::QoS & qos=rclcpp::ServicesQoS(),
    rclcpp::CallbackGroup::SharedPtr group=nullptr
)

function create_timer

Create a timer driven by an explicit clock (non-Agnocast build). 

template<typename CallbackT>
rclcpp::TimerBase::SharedPtr nebula::agnocast_wrapper::create_timer (
    Node * node,
    rclcpp::Clock::SharedPtr clock,
    rclcpp::Duration period,
    CallbackT && callback,
    rclcpp::CallbackGroup::SharedPtr group=nullptr
)

Provided as a free function rather than a Node member because rclcpp::Node::create_timer was added in Jazzy and does not exist on Humble; the free rclcpp::create_timer() is available on both.

function ok

Mode-agnostic replacement for rclcpp::ok() (non-Agnocast build). 

inline bool nebula::agnocast_wrapper::ok ()

function set_period

Set the timer period (non-Agnocast build). 

inline void nebula::agnocast_wrapper::set_period (
    const rclcpp::TimerBase::SharedPtr & timer,
    std::chrono::nanoseconds period
)

rclcpp::TimerBase has no set_period member, so we provide a free overload that falls back to the rcl C API. Mirrors the Agnocast-build overload on Timer::SharedPtr so the same call site works in both builds.

Exception:

  • std::invalid_argument if period is negative or equal to std::chrono::nanoseconds::max() (mirrors rclcpp::create_wall_timer's precondition 0 <= period < nanoseconds::max()).
  • rclcpp::exceptions::RCLError on rcl-level failure.

function to_rclcpp_node

Get the underlying rclcpp::Node from an agnocast_wrapper::Node . 

template<typename T>
std::shared_ptr< rclcpp::Node > nebula::agnocast_wrapper::to_rclcpp_node (
    const std::shared_ptr< T > & node
)

The documentation for this class was generated from the following file src/nebula_core/nebula_core_ros/include/nebula_core_ros/agnocast_wrapper/diagnostic_updater.hpp