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node_wrapper.hpp
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64 lines (48 loc) · 2.38 KB
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// Copyright 2019 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef RCLCPP__NODE_INTERFACES__NODE_WRAPPER_HPP_
#define RCLCPP__NODE_INTERFACES__NODE_WRAPPER_HPP_
#include <memory>
#include <string>
#include "rclcpp/rclcpp.hpp"
class NodeWrapper
{
public:
explicit NodeWrapper(const std::string & name)
: node(std::make_shared<rclcpp::Node>(name))
{}
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
get_node_base_interface() {return this->node->get_node_base_interface();}
rclcpp::node_interfaces::NodeClockInterface::SharedPtr
get_node_clock_interface() {return this->node->get_node_clock_interface();}
rclcpp::node_interfaces::NodeGraphInterface::SharedPtr
get_node_graph_interface() {return this->node->get_node_graph_interface();}
rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr
get_node_logging_interface() {return this->node->get_node_logging_interface();}
rclcpp::node_interfaces::NodeTimersInterface::SharedPtr
get_node_timers_interface() {return this->node->get_node_timers_interface();}
rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr
get_node_topics_interface() {return this->node->get_node_topics_interface();}
rclcpp::node_interfaces::NodeServicesInterface::SharedPtr
get_node_services_interface() {return this->node->get_node_services_interface();}
rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr
get_node_waitables_interface() {return this->node->get_node_waitables_interface();}
rclcpp::node_interfaces::NodeParametersInterface::SharedPtr
get_node_parameters_interface() {return this->node->get_node_parameters_interface();}
rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr
get_node_time_source_interface() {return this->node->get_node_time_source_interface();}
private:
rclcpp::Node::SharedPtr node;
};
#endif // RCLCPP__NODE_INTERFACES__NODE_WRAPPER_HPP_