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// Copyright 2014 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_HPP_
#define RCLCPP__NODE_HPP_
#include <atomic>
#include <condition_variable>
#include <list>
#include <map>
#include <memory>
#include <mutex>
#include <string>
#include <tuple>
#include <utility>
#include <vector>
#include "rcl/error_handling.h"
#include "rcl/node.h"
#include "rcl_interfaces/msg/list_parameters_result.hpp"
#include "rcl_interfaces/msg/parameter_descriptor.hpp"
#include "rcl_interfaces/msg/parameter_event.hpp"
#include "rcl_interfaces/msg/set_parameters_result.hpp"
#include "rclcpp/callback_group.hpp"
#include "rclcpp/client.hpp"
#include "rclcpp/clock.hpp"
#include "rclcpp/context.hpp"
#include "rclcpp/event.hpp"
#include "rclcpp/logger.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/message_memory_strategy.hpp"
#include "rclcpp/node_interfaces/node_base_interface.hpp"
#include "rclcpp/node_interfaces/node_clock_interface.hpp"
#include "rclcpp/node_interfaces/node_graph_interface.hpp"
#include "rclcpp/node_interfaces/node_logging_interface.hpp"
#include "rclcpp/node_interfaces/node_parameters_interface.hpp"
#include "rclcpp/node_interfaces/node_services_interface.hpp"
#include "rclcpp/node_interfaces/node_time_source_interface.hpp"
#include "rclcpp/node_interfaces/node_timers_interface.hpp"
#include "rclcpp/node_interfaces/node_topics_interface.hpp"
#include "rclcpp/node_interfaces/node_waitables_interface.hpp"
#include "rclcpp/node_options.hpp"
#include "rclcpp/parameter.hpp"
#include "rclcpp/publisher.hpp"
#include "rclcpp/publisher_options.hpp"
#include "rclcpp/qos.hpp"
#include "rclcpp/service.hpp"
#include "rclcpp/subscription.hpp"
#include "rclcpp/subscription_options.hpp"
#include "rclcpp/subscription_traits.hpp"
#include "rclcpp/time.hpp"
#include "rclcpp/timer.hpp"
#include "rclcpp/visibility_control.hpp"
namespace rclcpp
{
/// Node is the single point of entry for creating publishers and subscribers.
class Node : public std::enable_shared_from_this<Node>
{
public:
RCLCPP_SMART_PTR_DEFINITIONS(Node)
/// Create a new node with the specified name.
/**
* \param[in] node_name Name of the node.
* \param[in] options Additional options to control creation of the node.
* \throws InvalidNamespaceError if the namespace is invalid
*/
RCLCPP_PUBLIC
explicit Node(
const std::string & node_name,
const NodeOptions & options = NodeOptions());
/// Create a new node with the specified name.
/**
* \param[in] node_name Name of the node.
* \param[in] namespace_ Namespace of the node.
* \param[in] options Additional options to control creation of the node.
* \throws InvalidNamespaceError if the namespace is invalid
*/
RCLCPP_PUBLIC
explicit Node(
const std::string & node_name,
const std::string & namespace_,
const NodeOptions & options = NodeOptions());
RCLCPP_PUBLIC
virtual ~Node();
/// Get the name of the node.
/** \return The name of the node. */
RCLCPP_PUBLIC
const char *
get_name() const;
/// Get the namespace of the node.
/**
* This namespace is the "node's" namespace, and therefore is not affected
* by any sub-namespace's that may affect entities created with this instance.
* Use get_effective_namespace() to get the full namespace used by entities.
*
* \sa get_sub_namespace()
* \sa get_effective_namespace()
* \return The namespace of the node.
*/
RCLCPP_PUBLIC
const char *
get_namespace() const;
/// Get the fully-qualified name of the node.
/**
* The fully-qualified name includes the local namespace and name of the node.
* \return fully-qualified name of the node.
*/
RCLCPP_PUBLIC
const char *
get_fully_qualified_name() const;
/// Get the logger of the node.
/** \return The logger of the node. */
RCLCPP_PUBLIC
rclcpp::Logger
get_logger() const;
/// Create and return a callback group.
RCLCPP_PUBLIC
rclcpp::CallbackGroup::SharedPtr
create_callback_group(rclcpp::CallbackGroupType group_type);
/// Return the list of callback groups in the node.
RCLCPP_PUBLIC
const std::vector<rclcpp::CallbackGroup::WeakPtr> &
get_callback_groups() const;
/// Create and return a Publisher.
/**
* The rclcpp::QoS has several convenient constructors, including a
* conversion constructor for size_t, which mimics older API's that
* allows just a string and size_t to create a publisher.
*
* For example, all of these cases will work:
*
* ```cpp
* pub = node->create_publisher<MsgT>("chatter", 10); // implicitly KeepLast
* pub = node->create_publisher<MsgT>("chatter", QoS(10)); // implicitly KeepLast
* pub = node->create_publisher<MsgT>("chatter", QoS(KeepLast(10)));
* pub = node->create_publisher<MsgT>("chatter", QoS(KeepAll()));
* pub = node->create_publisher<MsgT>("chatter", QoS(1).best_effort().volatile());
* {
* rclcpp::QoS custom_qos(KeepLast(10), rmw_qos_profile_sensor_data);
* pub = node->create_publisher<MsgT>("chatter", custom_qos);
* }
* ```
*
* The publisher options may optionally be passed as the third argument for
* any of the above cases.
*
* \param[in] topic_name The topic for this publisher to publish on.
* \param[in] qos The Quality of Service settings for the publisher.
* \param[in] options Additional options for the created Publisher.
* \return Shared pointer to the created publisher.
*/
template<
typename MessageT,
typename AllocatorT = std::allocator<void>,
typename PublisherT = rclcpp::Publisher<MessageT, AllocatorT>>
std::shared_ptr<PublisherT>
create_publisher(
const std::string & topic_name,
const rclcpp::QoS & qos,
const PublisherOptionsWithAllocator<AllocatorT> & options =
PublisherOptionsWithAllocator<AllocatorT>()
);
/// Create and return a Subscription.
/**
* \param[in] topic_name The topic to subscribe on.
* \param[in] qos QoS profile for Subcription.
* \param[in] callback The user-defined callback function to receive a message
* \param[in] options Additional options for the creation of the Subscription.
* \param[in] msg_mem_strat The message memory strategy to use for allocating messages.
* \return Shared pointer to the created subscription.
*/
template<
typename MessageT,
typename CallbackT,
typename AllocatorT = std::allocator<void>,
typename CallbackMessageT =
typename rclcpp::subscription_traits::has_message_type<CallbackT>::type,
typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>,
typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
CallbackMessageT,
AllocatorT
>
>
std::shared_ptr<SubscriptionT>
create_subscription(
const std::string & topic_name,
const rclcpp::QoS & qos,
CallbackT && callback,
const SubscriptionOptionsWithAllocator<AllocatorT> & options =
SubscriptionOptionsWithAllocator<AllocatorT>(),
typename MessageMemoryStrategyT::SharedPtr msg_mem_strat = (
MessageMemoryStrategyT::create_default()
)
);
/// Create a timer.
/**
* \param[in] period Time interval between triggers of the callback.
* \param[in] callback User-defined callback function.
* \param[in] group Callback group to execute this timer's callback in.
*/
template<typename DurationRepT = int64_t, typename DurationT = std::milli, typename CallbackT>
typename rclcpp::WallTimer<CallbackT>::SharedPtr
create_wall_timer(
std::chrono::duration<DurationRepT, DurationT> period,
CallbackT callback,
rclcpp::CallbackGroup::SharedPtr group = nullptr);
/// Create and return a Client.
/**
* \param[in] service_name The topic to service on.
* \param[in] qos_profile rmw_qos_profile_t Quality of service profile for client.
* \param[in] group Callback group to call the service.
* \return Shared pointer to the created client.
*/
template<typename ServiceT>
typename rclcpp::Client<ServiceT>::SharedPtr
create_client(
const std::string & service_name,
const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
rclcpp::CallbackGroup::SharedPtr group = nullptr);
/// Create and return a Service.
/**
* \param[in] service_name The topic to service on.
* \param[in] callback User-defined callback function.
* \param[in] qos_profile rmw_qos_profile_t Quality of service profile for client.
* \param[in] group Callback group to call the service.
* \return Shared pointer to the created service.
*/
template<typename ServiceT, typename CallbackT>
typename rclcpp::Service<ServiceT>::SharedPtr
create_service(
const std::string & service_name,
CallbackT && callback,
const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
rclcpp::CallbackGroup::SharedPtr group = nullptr);
/// Declare and initialize a parameter, return the effective value.
/**
* This method is used to declare that a parameter exists on this node.
* If, at run-time, the user has provided an initial value then it will be
* set in this method, otherwise the given default_value will be set.
* In either case, the resulting value is returned, whether or not it is
* based on the default value or the user provided initial value.
*
* If no parameter_descriptor is given, then the default values from the
* message definition will be used, e.g. read_only will be false.
*
* The name and type in the given rcl_interfaces::msg::ParameterDescriptor
* are ignored, and should be specified using the name argument to this
* function and the default value's type instead.
*
* If `ignore_override` is `true`, the parameter override will be ignored.
*
* This method, if successful, will result in any callback registered with
* add_on_set_parameters_callback to be called.
* If that callback prevents the initial value for the parameter from being
* set then rclcpp::exceptions::InvalidParameterValueException is thrown.
*
* The returned reference will remain valid until the parameter is
* undeclared.
*
* \param[in] name The name of the parameter.
* \param[in] default_value An initial value to be used if at run-time user
* did not override it.
* \param[in] parameter_descriptor An optional, custom description for
* the parameter.
* \param[in] ignore_override When `true`, the parameter override is ignored.
* Default to `false`.
* \return A const reference to the value of the parameter.
* \throws rclcpp::exceptions::ParameterAlreadyDeclaredException if parameter
* has already been declared.
* \throws rclcpp::exceptions::InvalidParametersException if a parameter
* name is invalid.
* \throws rclcpp::exceptions::InvalidParameterValueException if initial
* value fails to be set.
*/
RCLCPP_PUBLIC
const rclcpp::ParameterValue &
declare_parameter(
const std::string & name,
const rclcpp::ParameterValue & default_value = rclcpp::ParameterValue(),
const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
rcl_interfaces::msg::ParameterDescriptor(),
bool ignore_override = false);
/// Declare and initialize a parameter with a type.
/**
* See the non-templated declare_parameter() on this class for details.
*
* If the type of the default value, and therefore also the type of return
* value, differs from the initial value provided in the node options, then
* a rclcpp::exceptions::InvalidParameterTypeException may be thrown.
* To avoid this, use the declare_parameter() method which returns an
* rclcpp::ParameterValue instead.
*
* Note, this method cannot return a const reference, because extending the
* lifetime of a temporary only works recursively with member initializers,
* and cannot be extended to members of a class returned.
* The return value of this class is a copy of the member of a ParameterValue
* which is returned by the other version of declare_parameter().
* See also:
*
* - https://en.cppreference.com/w/cpp/language/lifetime
* - https://herbsutter.com/2008/01/01/gotw-88-a-candidate-for-the-most-important-const/
* - https://www.youtube.com/watch?v=uQyT-5iWUow (cppnow 2018 presentation)
*/
template<typename ParameterT>
auto
declare_parameter(
const std::string & name,
const ParameterT & default_value,
const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
rcl_interfaces::msg::ParameterDescriptor(),
bool ignore_override = false);
/// Declare and initialize several parameters with the same namespace and type.
/**
* For each key in the map, a parameter with a name of "namespace.key"
* will be set to the value in the map.
* The resulting value for each declared parameter will be returned.
*
* The name expansion is naive, so if you set the namespace to be "foo.",
* then the resulting parameter names will be like "foo..key".
* However, if the namespace is an empty string, then no leading '.' will be
* placed before each key, which would have been the case when naively
* expanding "namespace.key".
* This allows you to declare several parameters at once without a namespace.
*
* The map contains default values for parameters.
* There is another overload which takes the std::pair with the default value
* and descriptor.
*
* If `ignore_overrides` is `true`, all the overrides of the parameters declared
* by the function call will be ignored.
*
* This method, if successful, will result in any callback registered with
* add_on_set_parameters_callback to be called, once for each parameter.
* If that callback prevents the initial value for any parameter from being
* set then rclcpp::exceptions::InvalidParameterValueException is thrown.
*
* \param[in] namespace_ The namespace in which to declare the parameters.
* \param[in] parameters The parameters to set in the given namespace.
* \param[in] ignore_overrides When `true`, the parameters overrides are ignored.
* Default to `false`.
* \throws rclcpp::exceptions::ParameterAlreadyDeclaredException if parameter
* has already been declared.
* \throws rclcpp::exceptions::InvalidParametersException if a parameter
* name is invalid.
* \throws rclcpp::exceptions::InvalidParameterValueException if initial
* value fails to be set.
*/
template<typename ParameterT>
std::vector<ParameterT>
declare_parameters(
const std::string & namespace_,
const std::map<std::string, ParameterT> & parameters,
bool ignore_overrides = false);
/// Declare and initialize several parameters with the same namespace and type.
/**
* This version will take a map where the value is a pair, with the default
* parameter value as the first item and a parameter descriptor as the second.
*
* See the simpler declare_parameters() on this class for more details.
*/
template<typename ParameterT>
std::vector<ParameterT>
declare_parameters(
const std::string & namespace_,
const std::map<
std::string,
std::pair<ParameterT, rcl_interfaces::msg::ParameterDescriptor>
> & parameters,
bool ignore_overrides = false);
/// Undeclare a previously declared parameter.
/**
* This method will not cause a callback registered with
* add_on_set_parameters_callback to be called.
*
* \param[in] name The name of the parameter to be undeclared.
* \throws rclcpp::exceptions::ParameterNotDeclaredException if the parameter
* has not been declared.
* \throws rclcpp::exceptions::ParameterImmutableException if the parameter
* was create as read_only (immutable).
*/
RCLCPP_PUBLIC
void
undeclare_parameter(const std::string & name);
/// Return true if a given parameter is declared.
/**
* \param[in] name The name of the parameter to check for being declared.
* \return true if the parameter name has been declared, otherwise false.
*/
RCLCPP_PUBLIC
bool
has_parameter(const std::string & name) const;
/// Set a single parameter.
/**
* Set the given parameter and then return result of the set action.
*
* If the parameter has not been declared this function may throw the
* rclcpp::exceptions::ParameterNotDeclaredException exception, but only if
* the node was not created with the
* rclcpp::NodeOptions::allow_undeclared_parameters set to true.
* If undeclared parameters are allowed, then the parameter is implicitly
* declared with the default parameter meta data before being set.
* Parameter overrides are ignored by set_parameter.
*
* This method will result in any callback registered with
* add_on_set_parameters_callback to be called.
* If the callback prevents the parameter from being set, then it will be
* reflected in the SetParametersResult that is returned, but no exception
* will be thrown.
*
* If the value type of the parameter is rclcpp::PARAMETER_NOT_SET, and the
* existing parameter type is something else, then the parameter will be
* implicitly undeclared.
* This will result in a parameter event indicating that the parameter was
* deleted.
*
* \param[in] parameter The parameter to be set.
* \return The result of the set action.
* \throws rclcpp::exceptions::ParameterNotDeclaredException if the parameter
* has not been declared and undeclared parameters are not allowed.
*/
RCLCPP_PUBLIC
rcl_interfaces::msg::SetParametersResult
set_parameter(const rclcpp::Parameter & parameter);
/// Set one or more parameters, one at a time.
/**
* Set the given parameters, one at a time, and then return result of each
* set action.
*
* Parameters are set in the order they are given within the input vector.
*
* Like set_parameter, if any of the parameters to be set have not first been
* declared, and undeclared parameters are not allowed (the default), then
* this method will throw rclcpp::exceptions::ParameterNotDeclaredException.
*
* If setting a parameter fails due to not being declared, then the
* parameters which have already been set will stay set, and no attempt will
* be made to set the parameters which come after.
*
* If a parameter fails to be set due to any other reason, like being
* rejected by the user's callback (basically any reason other than not
* having been declared beforehand), then that is reflected in the
* corresponding SetParametersResult in the vector returned by this function.
*
* This method will result in any callback registered with
* add_on_set_parameters_callback to be called, once for each parameter.
* If the callback prevents the parameter from being set, then, as mentioned
* before, it will be reflected in the corresponding SetParametersResult
* that is returned, but no exception will be thrown.
*
* Like set_parameter() this method will implicitly undeclare parameters
* with the type rclcpp::PARAMETER_NOT_SET.
*
* \param[in] parameters The vector of parameters to be set.
* \return The results for each set action as a vector.
* \throws rclcpp::exceptions::ParameterNotDeclaredException if any parameter
* has not been declared and undeclared parameters are not allowed.
*/
RCLCPP_PUBLIC
std::vector<rcl_interfaces::msg::SetParametersResult>
set_parameters(const std::vector<rclcpp::Parameter> & parameters);
/// Set one or more parameters, all at once.
/**
* Set the given parameters, all at one time, and then aggregate result.
*
* Behaves like set_parameter, except that it sets multiple parameters,
* failing all if just one of the parameters are unsuccessfully set.
* Either all of the parameters are set or none of them are set.
*
* Like set_parameter and set_parameters, this method may throw an
* rclcpp::exceptions::ParameterNotDeclaredException exception if any of the
* parameters to be set have not first been declared.
* If the exception is thrown then none of the parameters will have been set.
*
* This method will result in any callback registered with
* add_on_set_parameters_callback to be called, just one time.
* If the callback prevents the parameters from being set, then it will be
* reflected in the SetParametersResult which is returned, but no exception
* will be thrown.
*
* If you pass multiple rclcpp::Parameter instances with the same name, then
* only the last one in the vector (forward iteration) will be set.
*
* Like set_parameter() this method will implicitly undeclare parameters
* with the type rclcpp::PARAMETER_NOT_SET.
*
* \param[in] parameters The vector of parameters to be set.
* \return The aggregate result of setting all the parameters atomically.
* \throws rclcpp::exceptions::ParameterNotDeclaredException if any parameter
* has not been declared and undeclared parameters are not allowed.
*/
RCLCPP_PUBLIC
rcl_interfaces::msg::SetParametersResult
set_parameters_atomically(const std::vector<rclcpp::Parameter> & parameters);
/// Return the parameter by the given name.
/**
* If the parameter has not been declared, then this method may throw the
* rclcpp::exceptions::ParameterNotDeclaredException exception.
*
* If undeclared parameters are allowed, see the node option
* rclcpp::NodeOptions::allow_undeclared_parameters, then this method will
* not throw an exception, and instead return a default initialized
* rclcpp::Parameter, which has a type of
* rclcpp::ParameterType::PARAMETER_NOT_SET.
*
* \param[in] name The name of the parameter to get.
* \return The requested parameter inside of a rclcpp parameter object.
* \throws rclcpp::exceptions::ParameterNotDeclaredException if the parameter
* has not been declared and undeclared parameters are not allowed.
*/
RCLCPP_PUBLIC
rclcpp::Parameter
get_parameter(const std::string & name) const;
/// Get the value of a parameter by the given name, and return true if it was set.
/**
* This method will never throw the
* rclcpp::exceptions::ParameterNotDeclaredException exception, but will
* instead return false if the parameter has not be previously declared.
*
* If the parameter was not declared, then the output argument for this
* method which is called "parameter" will not be assigned a value.
* If the parameter was declared, and therefore has a value, then it is
* assigned into the "parameter" argument of this method.
*
* \param[in] name The name of the parameter to get.
* \param[out] parameter The output storage for the parameter being retrieved.
* \return true if the parameter was previously declared, otherwise false.
*/
RCLCPP_PUBLIC
bool
get_parameter(const std::string & name, rclcpp::Parameter & parameter) const;
/// Get the value of a parameter by the given name, and return true if it was set.
/**
* Identical to the non-templated version of this method, except that when
* assigning the output argument called "parameter", this method will attempt
* to coerce the parameter value into the type requested by the given
* template argument, which may fail and throw an exception.
*
* If the parameter has not been declared, it will not attempt to coerce the
* value into the requested type, as it is known that the type is not set.
*
* \throws rclcpp::ParameterTypeException if the requested type does not
* match the value of the parameter which is stored.
*/
template<typename ParameterT>
bool
get_parameter(const std::string & name, ParameterT & parameter) const;
/// Get the parameter value, or the "alternative_value" if not set, and assign it to "parameter".
/**
* If the parameter was not set, then the "parameter" argument is assigned
* the "alternative_value".
*
* Like the version of get_parameter() which returns a bool, this method will
* not throw the rclcpp::exceptions::ParameterNotDeclaredException exception.
*
* In all cases, the parameter is never set or declared within the node.
*
* \param[in] name The name of the parameter to get.
* \param[out] parameter The output where the value of the parameter should be assigned.
* \param[in] alternative_value Value to be stored in output if the parameter was not set.
* \returns true if the parameter was set, false otherwise.
*/
template<typename ParameterT>
bool
get_parameter_or(
const std::string & name,
ParameterT & parameter,
const ParameterT & alternative_value) const;
/// Return the parameters by the given parameter names.
/**
* Like get_parameters(), this method may throw the
* rclcpp::exceptions::ParameterNotDeclaredException exception if the
* requested parameter has not been declared and undeclared parameters are
* not allowed.
*
* Also like get_parameters(), if undeclared parameters are allowed and the
* parameter has not been declared, then the corresponding rclcpp::Parameter
* will be default initialized and therefore have the type
* rclcpp::ParameterType::PARAMETER_NOT_SET.
*
* \param[in] names The names of the parameters to be retrieved.
* \return The parameters that were retrieved.
* \throws rclcpp::exceptions::ParameterNotDeclaredException if any of the
* parameters have not been declared and undeclared parameters are not
* allowed.
*/
RCLCPP_PUBLIC
std::vector<rclcpp::Parameter>
get_parameters(const std::vector<std::string> & names) const;
/// Get the parameter values for all parameters that have a given prefix.
/**
* The "prefix" argument is used to list the parameters which are prefixed
* with that prefix, see also list_parameters().
*
* The resulting list of parameter names are used to get the values of the
* parameters.
*
* The names which are used as keys in the values map have the prefix removed.
* For example, if you use the prefix "foo" and the parameters "foo.ping" and
* "foo.pong" exist, then the returned map will have the keys "ping" and
* "pong".
*
* An empty string for the prefix will match all parameters.
*
* If no parameters with the prefix are found, then the output parameter
* "values" will be unchanged and false will be returned.
* Otherwise, the parameter names and values will be stored in the map and
* true will be returned to indicate "values" was mutated.
*
* This method will never throw the
* rclcpp::exceptions::ParameterNotDeclaredException exception because the
* action of listing the parameters is done atomically with getting the
* values, and therefore they are only listed if already declared and cannot
* be undeclared before being retrieved.
*
* Like the templated get_parameter() variant, this method will attempt to
* coerce the parameter values into the type requested by the given
* template argument, which may fail and throw an exception.
*
* \param[in] prefix The prefix of the parameters to get.
* \param[out] values The map used to store the parameter names and values,
* respectively, with one entry per parameter matching prefix.
* \returns true if output "values" was changed, false otherwise.
* \throws rclcpp::ParameterTypeException if the requested type does not
* match the value of the parameter which is stored.
*/
template<typename ParameterT>
bool
get_parameters(
const std::string & prefix,
std::map<std::string, ParameterT> & values) const;
/// Return the parameter descriptor for the given parameter name.
/**
* Like get_parameters(), this method may throw the
* rclcpp::exceptions::ParameterNotDeclaredException exception if the
* requested parameter has not been declared and undeclared parameters are
* not allowed.
*
* If undeclared parameters are allowed, then a default initialized
* descriptor will be returned.
*
* \param[in] name The name of the parameter to describe.
* \return The descriptor for the given parameter name.
* \throws rclcpp::exceptions::ParameterNotDeclaredException if the
* parameter has not been declared and undeclared parameters are not
* allowed.
* \throws std::runtime_error if the number of described parameters is more than one
*/
RCLCPP_PUBLIC
rcl_interfaces::msg::ParameterDescriptor
describe_parameter(const std::string & name) const;
/// Return a vector of parameter descriptors, one for each of the given names.
/**
* Like get_parameters(), this method may throw the
* rclcpp::exceptions::ParameterNotDeclaredException exception if any of the
* requested parameters have not been declared and undeclared parameters are
* not allowed.
*
* If undeclared parameters are allowed, then a default initialized
* descriptor will be returned for the undeclared parameter's descriptor.
*
* If the names vector is empty, then an empty vector will be returned.
*
* \param[in] names The list of parameter names to describe.
* \return A list of parameter descriptors, one for each parameter given.
* \throws rclcpp::exceptions::ParameterNotDeclaredException if any of the
* parameters have not been declared and undeclared parameters are not
* allowed.
* \throws std::runtime_error if the number of described parameters is more than one
*/
RCLCPP_PUBLIC
std::vector<rcl_interfaces::msg::ParameterDescriptor>
describe_parameters(const std::vector<std::string> & names) const;
/// Return a vector of parameter types, one for each of the given names.
/**
* Like get_parameters(), this method may throw the
* rclcpp::exceptions::ParameterNotDeclaredException exception if any of the
* requested parameters have not been declared and undeclared parameters are
* not allowed.
*
* If undeclared parameters are allowed, then the default type
* rclcpp::ParameterType::PARAMETER_NOT_SET will be returned.
*
* \param[in] names The list of parameter names to get the types.
* \return A list of parameter types, one for each parameter given.
* \throws rclcpp::exceptions::ParameterNotDeclaredException if any of the
* parameters have not been declared and undeclared parameters are not
* allowed.
*/
RCLCPP_PUBLIC
std::vector<uint8_t>
get_parameter_types(const std::vector<std::string> & names) const;
/// Return a list of parameters with any of the given prefixes, up to the given depth.
/**
* \todo: properly document and test this method.
*/
RCLCPP_PUBLIC
rcl_interfaces::msg::ListParametersResult
list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const;
using OnSetParametersCallbackHandle =
rclcpp::node_interfaces::OnSetParametersCallbackHandle;
using OnParametersSetCallbackType =
rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType;
/// Add a callback for when parameters are being set.
/**
* The callback signature is designed to allow handling of any of the above
* `set_parameter*` or `declare_parameter*` methods, and so it takes a const
* reference to a vector of parameters to be set, and returns an instance of
* rcl_interfaces::msg::SetParametersResult to indicate whether or not the
* parameter should be set or not, and if not why.
*
* For an example callback:
*
* ```cpp
* rcl_interfaces::msg::SetParametersResult
* my_callback(const std::vector<rclcpp::Parameter> & parameters)
* {
* rcl_interfaces::msg::SetParametersResult result;
* result.successful = true;
* for (const auto & parameter : parameters) {
* if (!some_condition) {
* result.successful = false;
* result.reason = "the reason it could not be allowed";
* }
* }
* return result;
* }
* ```
*
* You can see that the SetParametersResult is a boolean flag for success
* and an optional reason that can be used in error reporting when it fails.
*
* This allows the node developer to control which parameters may be changed.
*
* Note that the callback is called when declare_parameter() and its variants
* are called, and so you cannot assume the parameter has been set before
* this callback, so when checking a new value against the existing one, you
* must account for the case where the parameter is not yet set.
*
* Some constraints like read_only are enforced before the callback is called.
*
* The callback may introspect other already set parameters (by calling any
* of the {get,list,describe}_parameter() methods), but may *not* modify
* other parameters (by calling any of the {set,declare}_parameter() methods)
* or modify the registered callback itself (by calling the
* add_on_set_parameters_callback() method). If a callback tries to do any
* of the latter things,
* rclcpp::exceptions::ParameterModifiedInCallbackException will be thrown.
*
* The callback functions must remain valid as long as the
* returned smart pointer is valid.
* The returned smart pointer can be promoted to a shared version.
*
* Resetting or letting the smart pointer go out of scope unregisters the callback.
* `remove_on_set_parameters_callback` can also be used.
*
* The registered callbacks are called when a parameter is set.
* When a callback returns a not successful result, the remaining callbacks aren't called.
* The order of the callback is the reverse from the registration order.
*
* \param callback The callback to register.
* \returns A shared pointer. The callback is valid as long as the smart pointer is alive.
* \throws std::bad_alloc if the allocation of the OnSetParametersCallbackHandle fails.
*/
RCLCPP_PUBLIC
OnSetParametersCallbackHandle::SharedPtr
add_on_set_parameters_callback(OnParametersSetCallbackType callback);
/// Remove a callback registered with `add_on_set_parameters_callback`.
/**
* Delete a handler returned by `add_on_set_parameters_callback`.
*
* e.g.:
*
* `remove_on_set_parameters_callback(scoped_callback.get())`
*
* As an alternative, the smart pointer can be reset:
*
* `scoped_callback.reset()`
*
* Supposing that `scoped_callback` was the only owner.
*
* Calling `remove_on_set_parameters_callback` more than once with the same handler,
* or calling it after the shared pointer has been reset is an error.
* Resetting or letting the smart pointer go out of scope after calling
* `remove_on_set_parameters_callback` is not a problem.
*
* \param handler The callback handler to remove.
* \throws std::runtime_error if the handler was not created with `add_on_set_parameters_callback`,
* or if it has been removed before.
*/
RCLCPP_PUBLIC
void
remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const handler);
/// Get the fully-qualified names of all available nodes.
/**
* The fully-qualified name includes the local namespace and name of the node.
* \return A vector of fully-qualified names of nodes.
*/
RCLCPP_PUBLIC
std::vector<std::string>
get_node_names() const;
/// Return a map of existing topic names to list of topic types.
/**
* \return a map of existing topic names to list of topic types.
* \throws std::runtime_error anything that rcl_error can throw
*/
RCLCPP_PUBLIC
std::map<std::string, std::vector<std::string>>
get_topic_names_and_types() const;
/// Return a map of existing service names to list of service types.
/**
* \return a map of existing service names to list of service types.
* \throws std::runtime_error anything that rcl_error can throw
*/
RCLCPP_PUBLIC
std::map<std::string, std::vector<std::string>>
get_service_names_and_types() const;
/// Return the number of publishers that are advertised on a given topic.
/**
* \param[in] node_name the node_name on which to count the publishers.
* \param[in] namespace_ the namespace of the node associated with the name
* \return number of publishers that are advertised on a given topic.
* \throws std::runtime_error if publishers could not be counted
*/
RCLCPP_PUBLIC
std::map<std::string, std::vector<std::string>>
get_service_names_and_types_by_node(
const std::string & node_name,
const std::string & namespace_) const;
/// Return the number of publishers created for a given topic.
/**
* \param[in] topic_name the actual topic name used; it will not be automatically remapped.
* \return number of publishers that have been created for the given topic.
* \throws std::runtime_error if publishers could not be counted
*/
RCLCPP_PUBLIC
size_t
count_publishers(const std::string & topic_name) const;
/// Return the number of subscribers created for a given topic.
/**
* \param[in] topic_name the actual topic name used; it will not be automatically remapped.
* \return number of subscribers that have been created for the given topic.
* \throws std::runtime_error if subscribers could not be counted
*/
RCLCPP_PUBLIC
size_t
count_subscribers(const std::string & topic_name) const;
/// Return the topic endpoint information about publishers on a given topic.
/**
* The returned parameter is a list of topic endpoint information, where each item will contain
* the node name, node namespace, topic type, endpoint type, topic endpoint's GID, and its QoS
* profile.
*
* When the `no_mangle` parameter is `true`, the provided `topic_name` should be a valid topic
* name for the middleware (useful when combining ROS with native middleware (e.g. DDS) apps).
* When the `no_mangle` parameter is `false`, the provided `topic_name` should follow
* ROS topic name conventions.
*
* `topic_name` may be a relative, private, or fully qualified topic name.
* A relative or private topic will be expanded using this node's namespace and name.
* The queried `topic_name` is not remapped.
*
* \param[in] topic_name the actual topic name used; it will not be automatically remapped.
* \param[in] no_mangle if `true`, `topic_name` needs to be a valid middleware topic name,
* otherwise it should be a valid ROS topic name. Defaults to `false`.
* \return a list of TopicEndpointInfo representing all the publishers on this topic.
* \throws InvalidTopicNameError if the given topic_name is invalid.
* \throws std::runtime_error if internal error happens.
*/
RCLCPP_PUBLIC
std::vector<rclcpp::TopicEndpointInfo>
get_publishers_info_by_topic(const std::string & topic_name, bool no_mangle = false) const;
/// Return the topic endpoint information about subscriptions on a given topic.
/**
* The returned parameter is a list of topic endpoint information, where each item will contain
* the node name, node namespace, topic type, endpoint type, topic endpoint's GID, and its QoS
* profile.
*
* When the `no_mangle` parameter is `true`, the provided `topic_name` should be a valid topic
* name for the middleware (useful when combining ROS with native middleware (e.g. DDS) apps).
* When the `no_mangle` parameter is `false`, the provided `topic_name` should follow
* ROS topic name conventions.
*
* `topic_name` may be a relative, private, or fully qualified topic name.
* A relative or private topic will be expanded using this node's namespace and name.
* The queried `topic_name` is not remapped.
*
* \param[in] topic_name the actual topic name used; it will not be automatically remapped.
* \param[in] no_mangle if `true`, `topic_name` needs to be a valid middleware topic name,
* otherwise it should be a valid ROS topic name. Defaults to `false`.
* \return a list of TopicEndpointInfo representing all the subscriptions on this topic.
* \throws InvalidTopicNameError if the given topic_name is invalid.
* \throws std::runtime_error if internal error happens.
*/
RCLCPP_PUBLIC
std::vector<rclcpp::TopicEndpointInfo>
get_subscriptions_info_by_topic(const std::string & topic_name, bool no_mangle = false) const;
/// Return a graph event, which will be set anytime a graph change occurs.
/* The graph Event object is a loan which must be returned.
* The Event object is scoped and therefore to return the loan just let it go
* out of scope.
*/
RCLCPP_PUBLIC
rclcpp::Event::SharedPtr
get_graph_event();
/// Wait for a graph event to occur by waiting on an Event to become set.
/**
* The given Event must be acquire through the get_graph_event() method.
*
* \param[in] event pointer to an Event to wait for
* \param[in] timeout nanoseconds to wait for the Event to change the state
*
* \throws InvalidEventError if the given event is nullptr
* \throws EventNotRegisteredError if the given event was not acquired with
* get_graph_event().
*/
RCLCPP_PUBLIC
void
wait_for_graph_change(
rclcpp::Event::SharedPtr event,
std::chrono::nanoseconds timeout);
/// Get a clock as a non-const shared pointer which is managed by the node.
/**
* \sa rclcpp::node_interfaces::NodeClock::get_clock
*/
RCLCPP_PUBLIC
rclcpp::Clock::SharedPtr
get_clock();
/// Get a clock as a const shared pointer which is managed by the node.
/**
* \sa rclcpp::node_interfaces::NodeClock::get_clock
*/
RCLCPP_PUBLIC
rclcpp::Clock::ConstSharedPtr
get_clock() const;
/// Returns current time from the time source specified by clock_type.
/**