rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturnon_configure(constrclcpp_lifecycle::State &)override { // rclcpp_lifecycle::LifecycleNode到rclcpp::Node的转换,使用shared_from_this()提供的智能指针直接转换,因为LifecycleNode是从Node继承来的 // 先转换为rclcpp::Node*,然后创建一个...
colcon build --packages-select example_parameters_rclcpp source install/setup.bash ros2 run example_parameters_rclcpp parameters_basic 2.RCLCPP参数API 在RCLCPP的API中,关于参数相关的函数比较多些,但都是围绕参数获取、参数设置、参数描述、列出参数、添加和移除参数回调事件。 rclcpp: rclcpp: ROS Client Librar...
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_cleanup(const rclcpp_lifecycle::State &) { timer_.reset(); pub_.reset(); RCUTILS_LOG_INFO_NAMED(get_name(), "on cleanup is called."); return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn:...
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_cleanup(const rclcpp_lifecycle::State &) { timer_.reset(); pub_.reset(); RCUTILS_LOG_INFO_NAMED(get_name(), "on cleanup is called."); return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn:...
); } ); RCLCPP_INFO(get_logger(), "on_activate():处理激活指令,创建定时器"); return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS; } CallbackReturn on_deactivate(const rclcpp_lifecycle::State &state) override { (void)state; timer_.reset(); RCLCPP_INFO(...
on_cleanup(const rclcpp_lifecycle::State &) { // In our cleanup phase, we release the shared pointers to the // timer and publisher. These entities are no longer available // and our node is "clean". timer_.reset(); pub_.reset(); ...
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS; } // rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_cleanup( const rclcpp_lifecycle::State&) { // 做一些publisher和timer的reset等 ...
rclcpp::shutdown(); return 0; } 进入src目录,新建文件lifecycle_talker.cpp cd ~/dev_ws/src/cpp_lifecycle/src touch lifecycle_talker.cpp 内容如下: #include <chrono> #include <iostream> #include <memory> #include <string> #include <thread> ...
if(this->joy_sub_->get_publisher_count() ==0) {RCLCPP_WARN(this->get_logger(),"Joy node not launched");}} voidTeleopTwistJoyNode::onJoy(Joy::ConstSharedPtr joy_msg){this->timer_watchdog_->reset();this->p9...
examples_rclcpp_minimal_service service_main examples_rclcpp_minimal_subscriber subscriber_lambda examples_rclcpp_minimal_subscriber subscriber_member_function examples_rclcpp_minimal_subscriber subscriber_not_composable examples_rclcpp_minimal_timer timer_lambda ...