TODO for USER: Add class description. More...

#include <template_control_plugin_node.hpp>

Inheritance diagram for SUB::Node:

Collaboration diagram for SUB::Node:

Public Member Functions
	Node (const rclcpp::NodeOptions &)
	Node constructor. More...

rcl_interfaces::msg::SetParametersResult	parameter_update_callback (const std::vector< rclcpp::Parameter > &parameters)
	Example callback for dynamic parameter updates. More...

void	example_timer_callback ()
	Example timer callback. More...

void	example_callback (std_msgs::msg::String::UniquePtr msg)
	Example subscription callback. More...

void	example_service_callback (const std::shared_ptr< rmw_request_id_t > header, const std::shared_ptr< std_srvs::srv::Empty::Request > request, std::shared_ptr< std_srvs::srv::Empty::Response > response)
	Example service callback. More...

autoware_msgs::msg::ControlCommandStamped	generate_command () override
	Extending class provided method which should generate a command message which will be published to the required topic by the base class. More...

bool	get_availability () override
	Get the availability status of this plugin based on the current operating environment. Method must be overriden by extending classes. More...

std::string	get_version_id () override
	Returns the version id of this plugin. More...

carma_ros2_utils::CallbackReturn	on_configure_plugin ()
	This method should be used to load parameters and will be called on the configure state transition. More...

	Node (const rclcpp::NodeOptions &)
	Node constructor. More...

rcl_interfaces::msg::SetParametersResult	parameter_update_callback (const std::vector< rclcpp::Parameter > &parameters)
	Example callback for dynamic parameter updates. More...

void	example_timer_callback ()
	Example timer callback. More...

void	example_callback (std_msgs::msg::String::UniquePtr msg)
	Example subscription callback. More...

void	example_service_callback (const std::shared_ptr< rmw_request_id_t > header, const std::shared_ptr< std_srvs::srv::Empty::Request > request, std::shared_ptr< std_srvs::srv::Empty::Response > response)
	Example service callback. More...

carma_ros2_utils::CallbackReturn	handle_on_configure (const rclcpp_lifecycle::State &prev_state)

	Node (const rclcpp::NodeOptions &)
	Node constructor. More...

rcl_interfaces::msg::SetParametersResult	parameter_update_callback (const std::vector< rclcpp::Parameter > &parameters)
	Example callback for dynamic parameter updates. More...

void	example_timer_callback ()
	Example timer callback. More...

void	example_callback (std_msgs::msg::String::UniquePtr msg)
	Example subscription callback. More...

void	example_service_callback (const std::shared_ptr< rmw_request_id_t > header, const std::shared_ptr< std_srvs::srv::Empty::Request > request, std::shared_ptr< std_srvs::srv::Empty::Response > response)
	Example service callback. More...

void	plan_maneuvers_callback (std::shared_ptr< rmw_request_id_t >, carma_planning_msgs::srv::PlanManeuvers::Request::SharedPtr req, carma_planning_msgs::srv::PlanManeuvers::Response::SharedPtr resp) override
	Extending class provided callback which should return a planned trajectory based on the provided trajectory planning request. More...

bool	get_availability () override
	Get the availability status of this plugin based on the current operating environment. Method must be overriden by extending classes. More...

std::string	get_version_id () override
	Returns the version id of this plugin. More...

carma_ros2_utils::CallbackReturn	on_configure_plugin ()
	This method should be used to load parameters and will be called on the configure state transition. More...

	Node (const rclcpp::NodeOptions &)
	Node constructor. More...

rcl_interfaces::msg::SetParametersResult	parameter_update_callback (const std::vector< rclcpp::Parameter > &parameters)
	Example callback for dynamic parameter updates. More...

void	example_timer_callback ()
	Example timer callback. More...

void	example_callback (std_msgs::msg::String::UniquePtr msg)
	Example subscription callback. More...

void	example_service_callback (const std::shared_ptr< rmw_request_id_t > header, const std::shared_ptr< std_srvs::srv::Empty::Request > request, std::shared_ptr< std_srvs::srv::Empty::Response > response)
	Example service callback. More...

void	plan_trajectory_callback (std::shared_ptr< rmw_request_id_t >, carma_planning_msgs::srv::PlanTrajectory::Request::SharedPtr req, carma_planning_msgs::srv::PlanTrajectory::Response::SharedPtr resp) override
	Extending class provided callback which should return a planned trajectory based on the provided trajectory planning request. More...

bool	get_availability () override
	Get the availability status of this plugin based on the current operating environment. Method must be overriden by extending classes. More...

std::string	get_version_id () override
	Returns the version id of this plugin. More...

carma_ros2_utils::CallbackReturn	on_configure_plugin ()
	This method should be used to load parameters and will be called on the configure state transition. More...

Public Member Functions inherited from carma_guidance_plugins::ControlPlugin
	ControlPlugin (const rclcpp::NodeOptions &)
	ControlPlugin constructor. More...

virtual	~ControlPlugin ()=default
	Virtual destructor for safe deletion. More...

virtual autoware_msgs::msg::ControlCommandStamped	generate_command ()=0
	Extending class provided method which should generate a command message which will be published to the required topic by the base class. More...

std::string	get_capability () override
	Get the capability string representing this plugins capabilities Method must be overriden by extending classes. Expectation is that abstract plugin type parent classes will provide a default implementation. More...

uint8_t	get_type () override final
	Returns the type of this plugin according to the carma_planning_msgs::Plugin type enum. Extending classes for the specific type should override this method. More...

carma_ros2_utils::CallbackReturn	handle_on_configure (const rclcpp_lifecycle::State &) override final

carma_ros2_utils::CallbackReturn	handle_on_activate (const rclcpp_lifecycle::State &) override final

carma_ros2_utils::CallbackReturn	handle_on_deactivate (const rclcpp_lifecycle::State &) override final

carma_ros2_utils::CallbackReturn	handle_on_cleanup (const rclcpp_lifecycle::State &) override final

carma_ros2_utils::CallbackReturn	handle_on_shutdown (const rclcpp_lifecycle::State &) override final

carma_ros2_utils::CallbackReturn	handle_on_error (const rclcpp_lifecycle::State &, const std::string &exception_string) override final

Public Member Functions inherited from carma_guidance_plugins::PluginBaseNode
	PluginBaseNode (const rclcpp::NodeOptions &)
	PluginBaseNode constructor. More...

virtual	~PluginBaseNode ()=default
	Virtual destructor for safe deletion. More...

virtual std::shared_ptr< carma_wm::WMListener >	get_world_model_listener () final
	Method to return the default world model listener provided as a convience by this base class If this method or get_world_model() are not called then the world model remains uninitialized and will not create unnecessary subscriptions. More...

virtual carma_wm::WorldModelConstPtr	get_world_model () final
	Method to return the default world model provided as a convience by this base class If this method or get_world_model_listener() are not called then the world model remains uninitialized and will not create unnecessary subscriptions. More...

virtual bool	get_activation_status () final
	Returns the activation status of this plugin. The plugins API callbacks will only be triggered when this method returns true. More...

virtual uint8_t	get_type ()
	Returns the type of this plugin according to the carma_planning_msgs::Plugin type enum. Extending classes for the specific type should override this method. More...

std::string	get_plugin_name_and_ns () const
	Return the name of this plugin with namespace. NOTE: If only the name of the plugin is required, use get_plugin_name() More...

std::string	get_plugin_name () const
	Return the name of this plugin. More...

virtual bool	get_availability ()=0
	Get the availability status of this plugin based on the current operating environment. Method must be overriden by extending classes. More...

virtual std::string	get_capability ()=0
	Get the capability string representing this plugins capabilities Method must be overriden by extending classes. Expectation is that abstract plugin type parent classes will provide a default implementation. More...

virtual std::string	get_version_id ()=0
	Returns the version id of this plugin. More...

virtual carma_ros2_utils::CallbackReturn	on_configure_plugin ()=0
	Method which is triggered when this plugin is moved from the UNCONFIGURED to INACTIVE states. This method should be used to load parameters and is required to be implemented. More...

virtual carma_ros2_utils::CallbackReturn	on_activate_plugin ()
	Method which is triggered when this plugin is moved from the INACTIVE to ACTIVE states. This method should be used to prepare for future callbacks for plugin's capabilites. More...

virtual carma_ros2_utils::CallbackReturn	on_deactivate_plugin ()
	Method which is triggered when this plugin is moved from the ACTIVE to INACTIVE states. This method should be used to disable any functionality which should cease execution when plugin is inactive. More...

virtual carma_ros2_utils::CallbackReturn	on_cleanup_plugin ()
	Method which is triggered when this plugin is moved from the INACTIVE to UNCONFIGURED states. This method should be used to fully reset the plugin such that a future call to on_configure_plugin would leave the plugin in a fresh state as though just launched. More...

virtual carma_ros2_utils::CallbackReturn	on_shutdown_plugin ()
	Method which is triggered when this plugin is moved from any state to FINALIZED This method should be used to generate any shutdown logs or final cleanup. More...

virtual carma_ros2_utils::CallbackReturn	on_error_plugin (const std::string &exception_string)
	Method which is triggered when an unhandled exception occurs in this plugin This method should be used to cleanup such that the plugin could be moved to UNCONFIGURED state if possible. More...

carma_ros2_utils::CallbackReturn	handle_on_configure (const rclcpp_lifecycle::State &) override

carma_ros2_utils::CallbackReturn	handle_on_activate (const rclcpp_lifecycle::State &) override

carma_ros2_utils::CallbackReturn	handle_on_deactivate (const rclcpp_lifecycle::State &) override

carma_ros2_utils::CallbackReturn	handle_on_cleanup (const rclcpp_lifecycle::State &) override

carma_ros2_utils::CallbackReturn	handle_on_shutdown (const rclcpp_lifecycle::State &) override

carma_ros2_utils::CallbackReturn	handle_on_error (const rclcpp_lifecycle::State &, const std::string &exception_string) override

	FRIEND_TEST (carma_guidance_plugins_test, connections_test)

Public Member Functions inherited from carma_guidance_plugins::StrategicPlugin
	StrategicPlugin (const rclcpp::NodeOptions &)
	StrategicPlugin constructor. More...

virtual	~StrategicPlugin ()=default
	Virtual destructor for safe deletion. More...

virtual void	plan_maneuvers_callback (std::shared_ptr< rmw_request_id_t > srv_header, carma_planning_msgs::srv::PlanManeuvers::Request::SharedPtr req, carma_planning_msgs::srv::PlanManeuvers::Response::SharedPtr resp)=0
	Extending class provided callback which should return a planned trajectory based on the provided trajectory planning request. More...

std::string	get_capability () override
	Get the capability string representing this plugins capabilities Method must be overriden by extending classes. Expectation is that abstract plugin type parent classes will provide a default implementation. More...

uint8_t	get_type () override final
	Returns the type of this plugin according to the carma_planning_msgs::Plugin type enum. Extending classes for the specific type should override this method. More...

carma_ros2_utils::CallbackReturn	handle_on_configure (const rclcpp_lifecycle::State &) override final

carma_ros2_utils::CallbackReturn	handle_on_activate (const rclcpp_lifecycle::State &) override final

carma_ros2_utils::CallbackReturn	handle_on_deactivate (const rclcpp_lifecycle::State &) override final

carma_ros2_utils::CallbackReturn	handle_on_cleanup (const rclcpp_lifecycle::State &) override final

carma_ros2_utils::CallbackReturn	handle_on_shutdown (const rclcpp_lifecycle::State &) override final

carma_ros2_utils::CallbackReturn	handle_on_error (const rclcpp_lifecycle::State &, const std::string &exception_string) override final

Public Member Functions inherited from carma_guidance_plugins::TacticalPlugin
	TacticalPlugin (const rclcpp::NodeOptions &)
	TacticalPlugin constructor. More...

virtual	~TacticalPlugin ()=default
	Virtual destructor for safe deletion. More...

virtual void	plan_trajectory_callback (std::shared_ptr< rmw_request_id_t > srv_header, carma_planning_msgs::srv::PlanTrajectory::Request::SharedPtr req, carma_planning_msgs::srv::PlanTrajectory::Response::SharedPtr resp)=0
	Extending class provided callback which should return a planned trajectory based on the provided trajectory planning request. More...

std::string	get_capability () override
	Get the capability string representing this plugins capabilities Method must be overriden by extending classes. Expectation is that abstract plugin type parent classes will provide a default implementation. More...

uint8_t	get_type () override final
	Returns the type of this plugin according to the carma_planning_msgs::Plugin type enum. Extending classes for the specific type should override this method. More...

carma_ros2_utils::CallbackReturn	handle_on_configure (const rclcpp_lifecycle::State &) override final

carma_ros2_utils::CallbackReturn	handle_on_activate (const rclcpp_lifecycle::State &) override final

carma_ros2_utils::CallbackReturn	handle_on_deactivate (const rclcpp_lifecycle::State &) override final

carma_ros2_utils::CallbackReturn	handle_on_cleanup (const rclcpp_lifecycle::State &) override final

carma_ros2_utils::CallbackReturn	handle_on_shutdown (const rclcpp_lifecycle::State &) override final

carma_ros2_utils::CallbackReturn	handle_on_error (const rclcpp_lifecycle::State &, const std::string &exception_string) override final

Private Attributes
carma_ros2_utils::SubPtr< std_msgs::msg::String >	example_sub_

carma_ros2_utils::PubPtr< std_msgs::msg::String >	example_pub_

carma_ros2_utils::ClientPtr< std_srvs::srv::Empty >	example_client_

carma_ros2_utils::ServicePtr< std_srvs::srv::Empty >	example_service_

rclcpp::TimerBase::SharedPtr	example_timer_

Config	config_

Additional Inherited Members
Protected Member Functions inherited from carma_guidance_plugins::ControlPlugin
void	current_pose_callback (geometry_msgs::msg::PoseStamped::UniquePtr msg)

void	current_twist_callback (geometry_msgs::msg::TwistStamped::UniquePtr msg)

virtual void	current_trajectory_callback (carma_planning_msgs::msg::TrajectoryPlan::UniquePtr msg)
	Extending class provided method which can optionally handle trajectory plan callbacks. More...

Protected Attributes inherited from carma_guidance_plugins::ControlPlugin
boost::optional< geometry_msgs::msg::PoseStamped >	current_pose_
	The most recent pose message received by this node. More...

boost::optional< geometry_msgs::msg::TwistStamped >	current_twist_
	The most recent velocity message received by this node. More...

boost::optional< carma_planning_msgs::msg::TrajectoryPlan >	current_trajectory_
	The most recent trajectory received by this plugin. More...

Detailed Description

TODO for USER: Add class description.

Definition at line 34 of file template_tactical_plugin_node.hpp.

Constructor & Destructor Documentation

◆ Node() [1/4]

SUB::Node::Node ( const rclcpp::NodeOptions & options )

explicit

Node constructor.

Definition at line 22 of file template_control_plugin_node.cpp.

      : carma_guidance_plugins::ControlPlugin(options)
  {
    // Create initial config
    config_ = Config();
 
    // Declare parameters
    config_.example_param = declare_parameter<std::string>("example_param", config_.example_param);
  }

◆ Node() [2/4]

SUB::Node::Node ( const rclcpp::NodeOptions & )

explicit

Node constructor.

◆ Node() [3/4]

SUB::Node::Node ( const rclcpp::NodeOptions & )

explicit

Node constructor.

◆ Node() [4/4]

SUB::Node::Node ( const rclcpp::NodeOptions & )

explicit

Node constructor.

Member Function Documentation

◆ example_callback() [1/4]

void SUB::Node::example_callback ( std_msgs::msg::String::UniquePtr msg )

Example subscription callback.

Definition at line 97 of file template_control_plugin_node.cpp.

  {
    RCLCPP_INFO_STREAM(  get_logger(), "example_sub_ callback called with value: " << msg->data);
  }

◆ example_callback() [2/4]

void SUB::Node::example_callback ( std_msgs::msg::String::UniquePtr msg )

Example subscription callback.

◆ example_callback() [3/4]

void SUB::Node::example_callback ( std_msgs::msg::String::UniquePtr msg )

Example subscription callback.

◆ example_callback() [4/4]

void SUB::Node::example_callback ( std_msgs::msg::String::UniquePtr msg )

Example subscription callback.

◆ example_service_callback() [1/4]

void SUB::Node::example_service_callback	(	const std::shared_ptr< rmw_request_id_t >	header,
		const std::shared_ptr< std_srvs::srv::Empty::Request >	request,
		std::shared_ptr< std_srvs::srv::Empty::Response >	response
	)

Example service callback.

Definition at line 82 of file template_control_plugin_node.cpp.

  {
    RCLCPP_INFO(  get_logger(), "Example service callback");
  }

◆ example_service_callback() [2/4]

void SUB::Node::example_service_callback	(	const std::shared_ptr< rmw_request_id_t >	header,
		const std::shared_ptr< std_srvs::srv::Empty::Request >	request,
		std::shared_ptr< std_srvs::srv::Empty::Response >	response
	)

Example service callback.

◆ example_service_callback() [3/4]

void SUB::Node::example_service_callback	(	const std::shared_ptr< rmw_request_id_t >	header,
		const std::shared_ptr< std_srvs::srv::Empty::Request >	request,
		std::shared_ptr< std_srvs::srv::Empty::Response >	response
	)

Example service callback.

◆ example_service_callback() [4/4]

void SUB::Node::example_service_callback	(	const std::shared_ptr< rmw_request_id_t >	header,
		const std::shared_ptr< std_srvs::srv::Empty::Request >	request,
		std::shared_ptr< std_srvs::srv::Empty::Response >	response
	)

Example service callback.

◆ example_timer_callback() [1/4]

void SUB::Node::example_timer_callback ( )

Example timer callback.

Definition at line 89 of file template_control_plugin_node.cpp.

  {
    RCLCPP_DEBUG(get_logger(), "Example timer callback");
    std_msgs::msg::String msg;
    msg.data = "Hello World!";
    example_pub_->publish(msg);
  }

◆ example_timer_callback() [2/4]

void SUB::Node::example_timer_callback ( )

Example timer callback.

◆ example_timer_callback() [3/4]

void SUB::Node::example_timer_callback ( )

Example timer callback.

◆ example_timer_callback() [4/4]

void SUB::Node::example_timer_callback ( )

Example timer callback.

◆ generate_command()

autoware_msgs::msg::ControlCommandStamped SUB::Node::generate_command ( )

overridevirtual

Extending class provided method which should generate a command message which will be published to the required topic by the base class.

NOTE: Implementer can determine if trajectory has changed based on current_trajectory_->trajectory_id

Returns: The command message to publish

Implements carma_guidance_plugins::ControlPlugin.

Definition at line 102 of file template_control_plugin_node.cpp.

  {
    autoware_msgs::msg::ControlCommandStamped msg;
    // TODO for user: Implement logic to generate control commands here
    return msg;
  }

◆ get_availability() [1/3]

bool SUB::Node::get_availability ( )

overridevirtual

Get the availability status of this plugin based on the current operating environment. Method must be overriden by extending classes.

Returns: This method should return true if the plugin's current understanding of the world means it would be capable of planning or executing its capability.

Implements carma_guidance_plugins::PluginBaseNode.

Definition at line 109 of file template_control_plugin_node.cpp.

                              {
    return true; // TODO for user implement actual check on availability if applicable to plugin
  }

◆ get_availability() [2/3]

bool SUB::Node::get_availability ( )

overridevirtual

Get the availability status of this plugin based on the current operating environment. Method must be overriden by extending classes.

Returns: This method should return true if the plugin's current understanding of the world means it would be capable of planning or executing its capability.

Implements carma_guidance_plugins::PluginBaseNode.

◆ get_availability() [3/3]

bool SUB::Node::get_availability ( )

overridevirtual

Get the availability status of this plugin based on the current operating environment. Method must be overriden by extending classes.

Returns: This method should return true if the plugin's current understanding of the world means it would be capable of planning or executing its capability.

Implements carma_guidance_plugins::PluginBaseNode.

◆ get_version_id() [1/3]

std::string SUB::Node::get_version_id ( )

overridevirtual

Returns the version id of this plugin.

Returns: The version id represented as a string

Implements carma_guidance_plugins::PluginBaseNode.

Definition at line 113 of file template_control_plugin_node.cpp.

                                 {
    return "TODO for user specify plugin version id here";
  }

◆ get_version_id() [2/3]

std::string SUB::Node::get_version_id ( )

overridevirtual

Returns the version id of this plugin.

Returns: The version id represented as a string

Implements carma_guidance_plugins::PluginBaseNode.

◆ get_version_id() [3/3]

std::string SUB::Node::get_version_id ( )

overridevirtual

Returns the version id of this plugin.

Returns: The version id represented as a string

Implements carma_guidance_plugins::PluginBaseNode.

◆ handle_on_configure()

carma_ros2_utils::CallbackReturn SUB::Node::handle_on_configure ( const rclcpp_lifecycle::State & prev_state )

Definition at line 44 of file template_package_node.cpp.

  {
    // Reset config
    config_ = Config();
 
    // Load parameters
    get_parameter<std::string>("example_param", config_.example_param);
 
    // Register runtime parameter update callback
    add_on_set_parameters_callback(std::bind(&Node::parameter_update_callback, this, std_ph::_1));
 
    // Setup subscribers
    example_sub_ = create_subscription<std_msgs::msg::String>("example_input_topic", 10,
                                                              std::bind(&Node::example_callback, this, std_ph::_1));
 
    // Setup publishers
    example_pub_ = create_publisher<std_msgs::msg::String>("example_output_topic", 10);
 
    // Setup service clients
    example_client_ = create_client<std_srvs::srv::Empty>("example_used_service");
 
    // Setup service servers
    example_service_ = create_service<std_srvs::srv::Empty>("example_provided_service",
                                                            std::bind(&Node::example_service_callback, this, std_ph::_1, std_ph::_2, std_ph::_3));
 
    // Setup timers
    // NOTE: You will not be able to actually publish until in the ACTIVE state 
    // so it may often make more sense for timers to be created in handle_on_activate
    example_timer_ = create_timer(
        get_clock(),
        std::chrono::milliseconds(1000),
        std::bind(&Node::example_timer_callback, this));
 
    // Return success if everything initialized successfully
    return CallbackReturn::SUCCESS;
  }

◆ on_configure_plugin() [1/3]

carma_ros2_utils::CallbackReturn SUB::Node::on_configure_plugin ( )

virtual

This method should be used to load parameters and will be called on the configure state transition.

Implements carma_guidance_plugins::PluginBaseNode.

Definition at line 44 of file template_control_plugin_node.cpp.

  {
    // Reset config
    config_ = Config();
 
    // Load parameters
    get_parameter<std::string>("example_param", config_.example_param);
 
    // Register runtime parameter update callback
    add_on_set_parameters_callback(std::bind(&Node::parameter_update_callback, this, std_ph::_1));
 
    // Setup subscribers
    example_sub_ = create_subscription<std_msgs::msg::String>("example_input_topic", 10,
                                                              std::bind(&Node::example_callback, this, std_ph::_1));
 
    // Setup publishers
    example_pub_ = create_publisher<std_msgs::msg::String>("example_output_topic", 10);
 
    // Setup service clients
    example_client_ = create_client<std_srvs::srv::Empty>("example_used_service");
 
    // Setup service servers
    example_service_ = create_service<std_srvs::srv::Empty>("example_provided_service",
                                                            std::bind(&Node::example_service_callback, this, std_ph::_1, std_ph::_2, std_ph::_3));
 
    // Setup timers
    // NOTE: You will not be able to actually publish until in the ACTIVE state 
    // so it may often make more sense for timers to be created in handle_on_activate
    example_timer_ = create_timer(
        get_clock(),
        std::chrono::milliseconds(1000),
        std::bind(&Node::example_timer_callback, this));
 
    // Return success if everthing initialized successfully
    return CallbackReturn::SUCCESS;
  }

◆ on_configure_plugin() [2/3]

carma_ros2_utils::CallbackReturn SUB::Node::on_configure_plugin ( )

virtual

This method should be used to load parameters and will be called on the configure state transition.

Implements carma_guidance_plugins::PluginBaseNode.

◆ on_configure_plugin() [3/3]

carma_ros2_utils::CallbackReturn SUB::Node::on_configure_plugin ( )

virtual

This method should be used to load parameters and will be called on the configure state transition.

Implements carma_guidance_plugins::PluginBaseNode.

◆ parameter_update_callback() [1/4]

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

Example callback for dynamic parameter updates.

Definition at line 32 of file template_control_plugin_node.cpp.

  {
    // TODO for the USER: Ensure all parameters can be updated dynamically by adding them to this method
    auto error = update_params<std::string>({{"example_param", config_.example_param}}, parameters);
 
    rcl_interfaces::msg::SetParametersResult result;
 
    result.successful = !error;
 
    return result;
  }

◆ parameter_update_callback() [2/4]

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

Example callback for dynamic parameter updates.

◆ parameter_update_callback() [3/4]

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

Example callback for dynamic parameter updates.

◆ parameter_update_callback() [4/4]

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

Example callback for dynamic parameter updates.

◆ plan_maneuvers_callback()

void SUB::Node::plan_maneuvers_callback	(	std::shared_ptr< rmw_request_id_t >	srv_header,
		carma_planning_msgs::srv::PlanManeuvers::Request::SharedPtr	req,
		carma_planning_msgs::srv::PlanManeuvers::Response::SharedPtr	resp
	)

overridevirtual

Extending class provided callback which should return a planned trajectory based on the provided trajectory planning request.

Parameters

srv_header	RCL header for services calls. Can usually be ignored by implementers.
req	The service request containing the previously planned maneuvers and vehicle state
resp	The response containing the additional maneuvers generated by this plugin

Implements carma_guidance_plugins::StrategicPlugin.

Definition at line 102 of file template_strategic_plugin_node.cpp.

  {
    // TODO for user: Implement maneuver planning logic here to populate resp based on req.
  }

◆ plan_trajectory_callback()

void SUB::Node::plan_trajectory_callback	(	std::shared_ptr< rmw_request_id_t >	srv_header,
		carma_planning_msgs::srv::PlanTrajectory::Request::SharedPtr	req,
		carma_planning_msgs::srv::PlanTrajectory::Response::SharedPtr	resp
	)

overridevirtual

Extending class provided callback which should return a planned trajectory based on the provided trajectory planning request.

Parameters

srv_header	RCL header for services calls. Can usually be ignored by implementers.
req	The service request containing the maneuvers to plan trajectories for and current vehicle state
resp	The response containing the planned trajectory

Implements carma_guidance_plugins::TacticalPlugin.

Definition at line 102 of file template_tactical_plugin_node.cpp.

  {
    // TODO for user: Implement trajectory planning logic here by populating resp base on req.
  }

Member Data Documentation

◆ config_

Config SUB::Node::config_

private

Definition at line 54 of file template_control_plugin_node.hpp.

◆ example_client_

carma_ros2_utils::ClientPtr< std_srvs::srv::Empty > SUB::Node::example_client_

private

Definition at line 45 of file template_control_plugin_node.hpp.

◆ example_pub_

carma_ros2_utils::PubPtr< std_msgs::msg::String > SUB::Node::example_pub_

private

Definition at line 42 of file template_control_plugin_node.hpp.

◆ example_service_

carma_ros2_utils::ServicePtr< std_srvs::srv::Empty > SUB::Node::example_service_

private

Definition at line 48 of file template_control_plugin_node.hpp.

◆ example_sub_

carma_ros2_utils::SubPtr< std_msgs::msg::String > SUB::Node::example_sub_

private

Definition at line 39 of file template_control_plugin_node.hpp.

◆ example_timer_

rclcpp::TimerBase::SharedPtr SUB::Node::example_timer_

private

Definition at line 51 of file template_control_plugin_node.hpp.

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

template_package/include/template_package/template_control_plugin_node.hpp
template_package/include/template_package/template_package_node.hpp
template_package/include/template_package/template_strategic_plugin_node.hpp
template_package/include/template_package/template_tactical_plugin_node.hpp
template_package/src/template_control_plugin_node.cpp
template_package/src/template_package_node.cpp
template_package/src/template_strategic_plugin_node.cpp
template_package/src/template_tactical_plugin_node.cpp

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Node() [1/4]

◆ Node() [2/4]

◆ Node() [3/4]

◆ Node() [4/4]

Member Function Documentation

◆ example_callback() [1/4]

◆ example_callback() [2/4]

◆ example_callback() [3/4]

◆ example_callback() [4/4]

◆ example_service_callback() [1/4]

◆ example_service_callback() [2/4]

◆ example_service_callback() [3/4]

◆ example_service_callback() [4/4]

◆ example_timer_callback() [1/4]

◆ example_timer_callback() [2/4]

◆ example_timer_callback() [3/4]

◆ example_timer_callback() [4/4]

◆ generate_command()

◆ get_availability() [1/3]

◆ get_availability() [2/3]

◆ get_availability() [3/3]

◆ get_version_id() [1/3]

◆ get_version_id() [2/3]

◆ get_version_id() [3/3]

◆ handle_on_configure()

◆ on_configure_plugin() [1/3]

◆ on_configure_plugin() [2/3]

◆ on_configure_plugin() [3/3]

◆ parameter_update_callback() [1/4]

◆ parameter_update_callback() [2/4]

◆ parameter_update_callback() [3/4]

◆ parameter_update_callback() [4/4]

◆ plan_maneuvers_callback()

◆ plan_trajectory_callback()

Member Data Documentation

◆ config_

◆ example_client_

◆ example_pub_

◆ example_service_

◆ example_sub_

◆ example_timer_