rclcpp::NodeWithTimers< MaxTimers > Class Template Reference

#include <node.hpp>

Inheritance diagram for rclcpp::NodeWithTimers< MaxTimers >:

Collaboration diagram for rclcpp::NodeWithTimers< MaxTimers >:

Public Member Functions
template<class C , void(C::*)() Method>
void	create_timer_in_group (const CallbackGroup &group, uint64_t period_ms)
void	create_timer_in_group (const CallbackGroup &group, uint64_t period_ms, nros_cpp_timer_callback_t callback, void *context=nullptr)
	The plain C callback + ctx form, in a group, parked in the pool.
template<class C , void(C::*)() Method>
void	create_wall_timer_in (uint64_t period_ms)
void	create_wall_timer_in (uint64_t period_ms, nros_cpp_timer_callback_t callback, void *context=nullptr)
	The plain C callback + ctx escape hatch, parked in the pool.
Public Member Functions inherited from rclcpp::Node
Result	add_on_set_parameters_callback (OnSetParametersCallbackType callback, void *context, ParameterCallbackHandle &out_handle)
bool	check_declared_depth (const char *type_name, const char *topic, const ::rclcpp::QoS &qos)
bool	check_declared_param (const char *name, int passed_type)
bool	check_declared_qos (const char *type_name, const char *topic, const ::rclcpp::QoS &qos)
Result	count_publishers (const char *topic_name, size_t *out_count) const
Result	count_subscribers (const char *topic_name, size_t *out_count) const
template<typename A >
Result	create_action_client (::rclcpp_action::Client< A > &out, const char *action_name, const ::rclcpp::QoS &qos=::rclcpp::QoS::services())
template<typename A >
Result	create_action_server (::rclcpp_action::Server< A > &out, const char *action_name, const ::rclcpp::QoS &qos=::rclcpp::QoS::services(), const ::rclcpp::ActionServerOptions &options={})
::rclcpp::CallbackGroup	create_callback_group (const char *name)
template<typename S , typename F , typename = typename std::enable_if< std::is_convertible<F, void (*)(const typename S::Response&)>::value>::type>
Result	create_client (::rclcpp::Client< S > &out, const char *service_name, F callback, const ::rclcpp::QoS &qos=::rclcpp::QoS::services(), const ::rclcpp::ClientOptions &options={})
template<typename S >
Result	create_client (::rclcpp::PollClient< S > &out, const char *service_name, const ::rclcpp::QoS &qos=::rclcpp::QoS::services())
template<typename S , typename F , typename , typename >
Client< S >::SharedPtr	create_client (const char *, F, const ::rclcpp::QoS &)
template<typename S , typename F , typename = typename ::rclcpp::tr::enable_if< !::rclcpp::detail::is_qos_arg<F>::value && !::rclcpp::tr::is_convertible<F, void (*)(const typename S::Response&)>::value>::type, typename = void>
typename::rclcpp::Client< S >::SharedPtr	create_client (const char *, F, const ::rclcpp::QoS &=::rclcpp::QoS::services())
	REFUSED — upstream's shared_ptr handler shape.
template<typename S >
inline ::rclcpp::Owned<::rclcpp::PollClient< S > >	create_client (const char *name, const ::rclcpp::QoS &qos)
template<typename S >
::rclcpp::Owned<::rclcpp::PollClient< S > >	create_client (const char *name, const ::rclcpp::QoS &qos=::rclcpp::QoS::services())
template<typename S , typename F , typename >
Client< S >::SharedPtr	create_client (const char *name, F callback, const ::rclcpp::QoS &qos)
template<typename S , typename F , typename = typename ::rclcpp::tr::enable_if<::rclcpp::tr::is_convertible< F, void (*)(const typename S::Response&)>::value>::type>
typename::rclcpp::Client< S >::SharedPtr	create_client (const char *name, F callback, const ::rclcpp::QoS &qos=::rclcpp::QoS::services())
	Callback-style service client (void(const S::Response&)).
Result	create_guard_condition (::rclcpp::GuardCondition &out, nros_cpp_guard_callback_t callback, void *context=nullptr)
template<typename A >
Result	create_polling_action_client (::rclcpp::PollingActionClient< A > &out, const char *action_name)
	Phase 122.3.d.b — Create an L1 polling-mode action client.
template<typename A >
Result	create_polling_action_server (::rclcpp::PollingActionServer< A > &out, const char *action_name)
template<typename M >
Result	create_polling_subscription (::rclcpp::PollingSubscription< M > &out, const char *topic, const ::rclcpp::QoS &qos=::rclcpp::QoS::default_profile())
template<typename M >
Result	create_publisher (::rclcpp::Publisher< M > &out, const char *topic, const ::rclcpp::QoS &qos, const ::rclcpp::PublisherOptions &options)
template<typename M >
Result	create_publisher (::rclcpp::Publisher< M > &out, const char *topic, const ::rclcpp::QoS &qos=::rclcpp::QoS::default_profile())
template<typename M >
typename::rclcpp::Publisher< M >::SharedPtr	create_publisher (const char *topic, ::size_t depth)
	create_publisher<M>(topic, depth) — the integer-depth spelling.
template<typename M >
Publisher< M >::SharedPtr	create_publisher (const char *topic, ::size_t depth)
template<typename M >
Publisher< M >::SharedPtr	create_publisher (const char *topic, const ::rclcpp::QoS &qos)
template<typename M >
typename::rclcpp::Publisher< M >::SharedPtr	create_publisher (const char *topic, const ::rclcpp::QoS &qos=::rclcpp::QoS::default_profile())
	create_publisher<M>(topic, qos) — available on every target.
template<typename M >
::rclcpp::Publisher< M >	create_publisher_in (const char *topic, const ::rclcpp::QoS &qos=::rclcpp::QoS::default_profile())
template<typename M >
Result	create_publisher_in_group (const ::rclcpp::CallbackGroup &, ::rclcpp::Publisher< M > &out, const char *topic, const ::rclcpp::QoS &qos=::rclcpp::QoS::default_profile())
template<typename S >
Result	create_service (::rclcpp::PollService< S > &out, const char *service_name, const ::rclcpp::QoS &qos=::rclcpp::QoS::services())
template<typename S , typename F , typename = typename std::enable_if<std::is_convertible< F, void (*)(const typename S::Request&, typename S::Response&)>::value>::type>
Result	create_service (::rclcpp::Service< S > &out, const char *service_name, F callback, const ::rclcpp::QoS &qos=::rclcpp::QoS::services(), const ::rclcpp::ServiceOptions &options={})
template<typename S , typename F , typename , typename >
Service< S >::SharedPtr	create_service (const char *, F, const ::rclcpp::QoS &)
template<typename S , typename F , typename = typename ::rclcpp::tr::enable_if< !::rclcpp::detail::is_qos_arg<F>::value && !::rclcpp::tr::is_convertible<F, void (*)(const typename S::Request&, typename S::Response&)>::value>::type, typename = void>
typename::rclcpp::Service< S >::SharedPtr	create_service (const char *, F, const ::rclcpp::QoS &=::rclcpp::QoS::services())
template<typename S >
inline ::rclcpp::Owned<::rclcpp::PollService< S > >	create_service (const char *name, const ::rclcpp::QoS &qos)
template<typename S >
::rclcpp::Owned<::rclcpp::PollService< S > >	create_service (const char *name, const ::rclcpp::QoS &qos=::rclcpp::QoS::services())
template<typename S , typename F , typename >
Service< S >::SharedPtr	create_service (const char *name, F callback, const ::rclcpp::QoS &qos)
template<typename S , typename F , typename = typename ::rclcpp::tr::enable_if<::rclcpp::tr::is_convertible< F, void (*)(const typename S::Request&, typename S::Response&)>::value>::type>
typename::rclcpp::Service< S >::SharedPtr	create_service (const char *name, F callback, const ::rclcpp::QoS &qos=::rclcpp::QoS::services())
	Callback-style service server (void(const S::Request&, S::Response&)).
template<typename M >
Result	create_subscription (::rclcpp::PollSubscription< M > &out, const char *topic, const ::rclcpp::QoS &qos, const ::rclcpp::SubscriptionOptions &options)
template<typename M >
Result	create_subscription (::rclcpp::PollSubscription< M > &out, const char *topic, const ::rclcpp::QoS &qos=::rclcpp::QoS::default_profile())
template<typename M , typename F , typename = typename std::enable_if<std::is_convertible<F, void (*)(const M&)>::value>::type>
Result	create_subscription (::rclcpp::Subscription< M > &out, const char *topic, const ::rclcpp::QoS &qos, F callback, const ::rclcpp::SubscriptionOptions &options={})
template<typename M , typename Cb >
typename::rclcpp::Subscription< M >::SharedPtr	create_subscription (const char *topic, ::size_t depth, Cb cb)
	create_subscription<M>(topic, depth, callback).
template<typename M , typename Cb >
Subscription< M >::SharedPtr	create_subscription (const char *topic, ::size_t depth, Cb cb)
template<typename M , typename Cb >
typename::rclcpp::Subscription< M >::SharedPtr	create_subscription (const char *topic, const ::rclcpp::QoS &qos, Cb cb)
template<typename M , typename Cb >
Subscription< M >::SharedPtr	create_subscription (const char *topic, const ::rclcpp::QoS &qos, Cb cb)
template<typename M , class C , void(C::*)(const M &msg) Method>
void	create_subscription_in (const char *topic, const ::rclcpp::QoS &qos=::rclcpp::QoS::default_profile())
template<typename M , typename F , typename = typename std::enable_if<std::is_convertible<F, void (*)(const M&)>::value>::type>
Result	create_subscription_in_group (const ::rclcpp::CallbackGroup &group, ::rclcpp::Subscription< M > &out, const char *topic, const ::rclcpp::QoS &qos, F callback, const ::rclcpp::SubscriptionOptions &options={})
template<typename M , class C , void(C::*)(const M &msg) Method>
void	create_subscription_in_group (const ::rclcpp::CallbackGroup &group, const char *topic, const ::rclcpp::QoS &qos=::rclcpp::QoS::default_profile())
template<typename M , typename F , typename = typename std::enable_if< std::is_convertible<F, void (*)(const M&, const uint8_t*, size_t)>::value>::type>
Result	create_subscription_with_info (::rclcpp::Subscription< M > &out, const char *topic, const ::rclcpp::QoS &qos, F callback, const ::rclcpp::SubscriptionOptions &options={})
template<class C , void(C::*)() Method>
Result	create_timer (Timer &out, const Clock &clock, uint64_t period_ms, C *self)
Result	create_timer (Timer &out, const Clock &clock, uint64_t period_ms, nros_cpp_timer_callback_t callback, void *context=nullptr)
template<class C , void(C::*)() Method>
Result	create_timer_in_group (const ::rclcpp::CallbackGroup &group, Timer &out, uint64_t period_ms, C *self)
Result	create_timer_in_group (const ::rclcpp::CallbackGroup &group, Timer &out, uint64_t period_ms, nros_cpp_timer_callback_t callback, void *context=nullptr)
Result	create_timer_oneshot (Timer &out, uint64_t delay_ms, nros_cpp_timer_callback_t callback, void *context=nullptr)
template<typename Cb >
::rclcpp::TimerHandle	create_wall_timer (::rclcpp::Duration period, Cb cb)
template<typename Cb >
inline ::rclcpp::TimerHandle	create_wall_timer (::rclcpp::Duration period, Cb cb)
template<class C , void(C::*)() Method>
Result	create_wall_timer (Timer &out, uint64_t period_ms, C *self)
Result	create_wall_timer (Timer &out, uint64_t period_ms, nros_cpp_timer_callback_t callback, void *context=nullptr)
template<typename T >
T	declare_parameter (const char *name, T default_value, const ParameterDescriptor &descriptor)
template<typename T >
T	declare_parameter (const char *name, T default_value=T())
	rclcpp::Node::declare_parameter<T>(name, default).
Result	describe_parameter (const char *name, ParameterDescriptor &out, char *text, ::size_t text_len) const
int32_t	error_code () const
	The raw error code of the first latched failure, or 0.
const char *	error_what () const
void *	executor_handle () const
const nros_cpp_node_t *	ffi_handle () const
Result	get_client_names_and_types_by_node (const char *node_name, const char *node_namespace, nros_cpp_names_and_types_visit_fn visit, void *ctx) const
Clock *	get_clock ()
const Clock *	get_clock () const
	Const overload of get_clock().
Result	get_fully_qualified_name (char *buf, size_t buf_len, size_t *out_len=nullptr) const
::rclcpp::Logger	get_logger () const
const char *	get_name () const
	Get the node name.
const char *	get_namespace () const
	Get the node namespace.
Result	get_node_names (nros_cpp_node_visit_fn visit, void *ctx) const
const ::rclcpp::NodeOptions &	get_node_options () const
template<typename T >
T	get_parameter (const char *name) const
	Value-returning read; T() when the name is undeclared.
template<typename T >
bool	get_parameter (const char *name, T &out) const
template<typename T >
bool	get_parameter_or (const char *name, T &out, T fallback) const
ParameterType	get_parameter_type (const char *name) const
Result	get_parameter_types (const char *const *names, ::size_t count, ParameterType *out) const
Result	get_publisher_names_and_types_by_node (const char *node_name, const char *node_namespace, nros_cpp_names_and_types_visit_fn visit, void *ctx) const
Result	get_publishers_info_by_topic (const char *topic_name, ::rclcpp::TopicEndpointInfoVisitFn visit, void *ctx) const
Result	get_publishers_info_by_topic (const char *topic_name, nros_cpp_endpoint_info_visit_fn visit, void *ctx) const
Result	get_service_names_and_types (nros_cpp_names_and_types_visit_fn visit, void *ctx) const
Result	get_service_names_and_types_by_node (const char *node_name, const char *node_namespace, nros_cpp_names_and_types_visit_fn visit, void *ctx) const
Result	get_subscription_names_and_types_by_node (const char *node_name, const char *node_namespace, nros_cpp_names_and_types_visit_fn visit, void *ctx) const
Result	get_subscriptions_info_by_topic (const char *topic_name, ::rclcpp::TopicEndpointInfoVisitFn visit, void *ctx) const
Result	get_subscriptions_info_by_topic (const char *topic_name, nros_cpp_endpoint_info_visit_fn visit, void *ctx) const
Result	get_topic_names_and_types (nros_cpp_names_and_types_visit_fn visit, void *ctx) const
bool	has_parameter (const char *name) const
	rclcpp::Node::has_parameter(name).
Result	init (const char *name, const char *ns=nullptr)
Result	init_on (void *executor_handle, const char *name, const char *ns=nullptr)
bool	initialized () const
bool	is_valid () const
	Check if the node is initialized and valid.
Result	list_parameters (const char *prefix, char *out_names, ::size_t name_stride, ::size_t max_names, ::size_t &count) const
	Node ()
	Node (::rclcpp::NodeHandle handle, const char *name, const char *ns=nullptr)
	Node (const char *name, const ::rclcpp::NodeOptions &options)
	Node (const char *name, const char *ns, const ::rclcpp::NodeOptions &options)
	Node (const char *name, const char *ns=nullptr)
	Node (Node &&other)
Time	now () const
Node &	nros_node ()
const Node &	nros_node () const
	Const overload of [nros_node].
bool	ok () const
Node &	operator= (Node &&other)
Result	remove_on_set_parameters_callback (ParameterCallbackHandle handle)
	rclcpp::Node::remove_on_set_parameters_callback(handle).
const char *	serialization_format () const
void	set_error (const char *what, int32_t code)
template<typename T >
Result	set_parameter (const char *name, T value)
Result	set_parameters_atomically (const ParameterWrite *writes, ::size_t count)
void	set_qos_overrides (const nros_cpp_qos_override_t *overrides, size_t len)
SharedPtr	shared_from_this ()
ConstSharedPtr	shared_from_this () const
	Const overload of [shared_from_this].
Result	start_parameter_services ()
Result	undeclare_parameter (const char *name)
	~Node ()

Additional Inherited Members
Public Types inherited from rclcpp::Node
using	ConstSharedPtr = ::rclcpp::Handle< const Node >
	rclcpp::Node::ConstSharedPtr.
using	SharedPtr = ::rclcpp::Handle< Node >
Static Public Member Functions inherited from rclcpp::Node
static Result	create (Node &out, const char *name, const char *ns=nullptr)

Detailed Description

template<::size_t MaxTimers = 8>
class rclcpp::NodeWithTimers< MaxTimers >

Issue 1131 — the pool is a fixed inline C array, and zero is not a smaller one: Timer timers_[0] is not ISO C++ (GCC/Clang accept it only as the zero-length-array extension). A node that owns no timer does not derive this template at all, which is the real zero.

Below the #ifndef, never above it: an undefined identifier reads as 0 in #if, so a guard above its own default fires on every build (issue 1167). A Node plus an inline pool of MaxTimers rclcpp::Timer slots.

rclcpp::Timer's destructor cancels its timer, so a timer created in a constructor must outlive the call. The out-ref create_wall_timer(Timer&, …) / create_timer_in_group(group, Timer&, …) family on Node makes that the caller's problem, which is the right default. This template is for the component shape, where the storage-free spelling is the ergonomic one:

class Talker : public rclcpp::NodeWithTimers<1> {
    rclcpp::Publisher<Int32> pub_;
  public:
    explicit Talker(rclcpp::NodeHandle h) : rclcpp::NodeWithTimers<1>(h, "talker") {
        pub_ = create_publisher_in<Int32>("/chatter");
        create_wall_timer_in<Talker, &Talker::on_tick>(500);
    }
    void on_tick();
};

Member Function Documentation

create_timer_in_group() [1/2]

template<::size_t MaxTimers = 8>

template<class C , void(C::*)() Method>

void rclcpp::NodeWithTimers< MaxTimers >::create_timer_in_group ( const CallbackGroup &  group, uint64_t  period_ms  )

inline

A typed member repeating timer in a callback group (RFC-0047), parked in the pool. Was ComponentNode::create_timer_in<C, Method>.

create_timer_in_group() [2/2]

template<::size_t MaxTimers = 8>

void rclcpp::NodeWithTimers< MaxTimers >::create_timer_in_group ( const CallbackGroup &  group, uint64_t  period_ms, nros_cpp_timer_callback_t  callback, void *  context = nullptr  )

inline

The plain C callback + ctx form, in a group, parked in the pool.

create_wall_timer_in() [1/2]

template<::size_t MaxTimers = 8>

template<class C , void(C::*)() Method>

void rclcpp::NodeWithTimers< MaxTimers >::create_wall_timer_in ( uint64_t  period_ms )

inline

Create a typed member repeating wall timer parked in the pool.

Was ComponentNode::create_wall_timer<C, Method>(period_ms); _in because upstream's create_wall_timer(duration, callback) is a different shape on the same type and a signature-only difference is resolved silently. Latches ok()=false on failure or pool exhaustion.

create_wall_timer_in() [2/2]

template<::size_t MaxTimers = 8>

void rclcpp::NodeWithTimers< MaxTimers >::create_wall_timer_in ( uint64_t  period_ms, nros_cpp_timer_callback_t  callback, void *  context = nullptr  )

inline

The plain C callback + ctx escape hatch, parked in the pool.

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

• include/rclcpp/node.hpp