Skip to content

Node#

agnocast::Node#

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

Node() (constructor)#

Node::Node(const std::string &node_name, const 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]#

Node::Node(const std::string &node_name, const std::string &namespace_, const 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()#

std::string Node::get_name() const

Return the name of the node.
Returns Node name.

get_logger()#

rclcpp::Logger Node::get_logger() const

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

get_namespace()#

std::string Node::get_namespace() const

Return the namespace of the node.
Returns Node namespace.

get_fully_qualified_name()#

std::string Node::get_fully_qualified_name() const

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

create_callback_group()#

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()#

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

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

declare_parameter()#

const rclcpp::ParameterValue & Node::declare_parameter(const std::string &name, const rclcpp::ParameterValue &default_value, const 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]#

const rclcpp::ParameterValue & Node::declare_parameter(const std::string &name, rclcpp::ParameterType type, const 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]#

auto Node::declare_parameter(const std::string &name, const ParameterT &default_value, const 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 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 4]#

auto Node::declare_parameter(const std::string &name, const 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 Description
name — Parameter name.
descriptor rcl_interfaces::msg::ParameterDescriptor{} Optional descriptor.
ignore_override false If true, ignore launch-file overrides.
Returns The parameter value.

has_parameter()#

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

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

undeclare_parameter()#

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

Undeclare a previously declared parameter.

get_parameter()#

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

Get a parameter by name.
Returns The requested parameter.

get_parameter() [overload 2]#

bool Node::get_parameter(const 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]#

bool Node::get_parameter(const 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()#

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

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

get_parameters() [overload 2]#

bool Node::get_parameters(const 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()#

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

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

set_parameters()#

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

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

set_parameters_atomically()#

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

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

describe_parameter()#

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

Describe a single parameter.
Returns Parameter descriptor.

describe_parameters()#

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

Describe multiple parameters.
Returns Vector of parameter descriptors.

get_parameter_types()#

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

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

list_parameters()#

rcl_interfaces::msg::ListParametersResult Node::list_parameters(const 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()#

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()#

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

Remove a previously registered on-set-parameters callback.

get_clock()#

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

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

get_clock() [overload 2]#

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

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

now()#

rclcpp::Time Node::now() const

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

count_publishers()#

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

Return the number of publishers on a topic. Counts the agnocast publishers in the same domain, plus the ROS 2 publishers reported by a bridge when one is running. Endpoints that a bridge created itself are excluded, so the result reflects the publishers the application set up.

Parameter Description
topic_name Topic name. A relative name is resolved against this node's namespace.
Returns Publisher count.

count_subscribers()#

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

Return the number of subscribers on a topic. Counts the agnocast subscribers in the same domain, plus the ROS 2 subscribers reported by a bridge when one is running. Endpoints that a bridge created itself are excluded, so the result reflects the subscribers the application set up. Agnocast subscribers living in the calling process are not counted, because the underlying query answers how many other processes receive a published message.

Parameter Description
topic_name Topic name. A relative name is resolved against this node's namespace.
Returns Subscriber count, excluding agnocast subscribers in the calling process.

create_publisher()#

agnocast::Publisher<MessageT>::SharedPtr Node::create_publisher(const std::string &topic_name, const rclcpp::QoS &qos, agnocast::PublisherOptions options)

Create a publisher (QoS overload).

Template Parameter Description
MessageT ROS message type.
Parameter Default Description
topic_name — Topic name.
qos — Quality of service profile.
options agnocast::PublisherOptions{} Publisher options.
Returns Shared pointer to the created publisher.

create_publisher() [overload 2]#

agnocast::Publisher<MessageT>::SharedPtr Node::create_publisher(const 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 Description
topic_name — Topic name.
queue_size — History depth for the QoS profile.
options agnocast::PublisherOptions{} Publisher options.
Returns Shared pointer to the created publisher.

create_subscription()#

agnocast::Subscription<MessageT>::SharedPtr Node::create_subscription(const std::string &topic_name, const 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 Description
topic_name — Topic name.
qos — Quality of service profile.
callback — Callback invoked on each received message.
options agnocast::SubscriptionOptions{} Subscription options.
Returns Shared pointer to the created subscription.

create_subscription() [overload 2]#

agnocast::Subscription<MessageT>::SharedPtr Node::create_subscription(const 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 Description
topic_name — Topic name.
queue_size — History depth for the QoS profile.
callback — Callback invoked on each received message.
options agnocast::SubscriptionOptions{} Subscription options.
Returns Shared pointer to the created subscription.

create_subscription() [overload 3]#

agnocast::PollingSubscriber<MessageT>::SharedPtr Node::create_subscription(const std::string &topic_name, const 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]#

agnocast::PollingSubscriber<MessageT>::SharedPtr Node::create_subscription(const std::string &topic_name, const 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()#

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 Description
period — Timer period.
callback — Callback invoked on each tick.
group nullptr Callback group (nullptr = default).
autostart true Whether to start immediately (not yet supported; always true).
Returns Shared pointer to the created timer.

create_timer()#

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 Description
period — Timer period.
callback — Callback invoked on each tick.
group nullptr Callback group (nullptr = default).
autostart true Whether to start immediately (not yet supported; always true).
Returns Shared pointer to the created timer.

create_client()#

agnocast::Client<ServiceT>::SharedPtr Node::create_client(const std::string &service_name, const rclcpp::QoS &qos, rclcpp::CallbackGroup::SharedPtr group)

Create a service client.

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

create_service()#

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

Create a service server.

Template Parameter Description
ServiceT ROS service type.
Func Callable that takes ipc_shared_ptr and ipc_shared_ptr (const&, &&, or by-value) (return value ignored).
Parameter Default Description
service_name — Service name.
callback — Callback invoked on each request.
qos rclcpp::ServicesQoS() Quality of service profile. Defaults to rclcpp::ServicesQoS().
group nullptr Callback group. Defaults to nullptr (default callback group).
Returns Shared pointer to the created service.