auterion::SDK Class Reference

SDK execution class. All callbacks are called on the same thread. More...

#include <auterion_sdk/auterion.hpp>

Public Member Functions
	SDK (int argc, char **argv, const std::string &node_name)
void	setSkipFlightControllerConnectionCheck (bool skip)
void	run ()
rclcpp::Node::SharedPtr	defaultRosHandle () const
rclcpp::Time	now () const
void	addNode (rclcpp::Node::SharedPtr node)
void	removeNode (rclcpp::Node::SharedPtr node)
const rclcpp::executors::SingleThreadedExecutor::UniquePtr &	executor () const
template<typename T >
T	getParameter (const std::string &name, std::function< void(const T &)> on_change_callback=nullptr)
	Get a parameter value and optionally register a callback for changes. More...
template<>
bool	getParameter (const std::string &name, std::function< void(const bool &)> on_change_callback)
template<>
int64_t	getParameter (const std::string &name, std::function< void(const int64_t &)> on_change_callback)
template<>
int	getParameter (const std::string &name, std::function< void(const int &)> on_change_callback)
template<>
float	getParameter (const std::string &name, std::function< void(const float &)> on_change_callback)
template<>
double	getParameter (const std::string &name, std::function< void(const double &)> on_change_callback)
template<>
std::string	getParameter (const std::string &name, std::function< void(const std::string &)> on_change_callback)
template<>
std::vector< bool >	getParameter (const std::string &name, std::function< void(const std::vector< bool > &)> on_change_callback)
template<>
std::vector< int64_t >	getParameter (const std::string &name, std::function< void(const std::vector< int64_t > &)> on_change_callback)
template<>
std::vector< int >	getParameter (const std::string &name, std::function< void(const std::vector< int > &)> on_change_callback)
template<>
std::vector< float >	getParameter (const std::string &name, std::function< void(const std::vector< float > &)> on_change_callback)
template<>
std::vector< double >	getParameter (const std::string &name, std::function< void(const std::vector< double > &)> on_change_callback)
template<>
std::vector< std::string >	getParameter (const std::string &name, std::function< void(const std::vector< std::string > &)> on_change_callback)

Detailed Description

SDK execution class. All callbacks are called on the same thread.

Member Function Documentation

getParameter()

template<typename T >

T auterion::SDK::getParameter ( const std::string &  name, std::function< void(const T &)>  on_change_callback = nullptr  )

inline

Get a parameter value and optionally register a callback for changes.

The parameter name must be defined in auterion-app.yml. The type must match (or be convertible from) the parameter type in the yaml definition.

Parameters

name	parameter name
on_change_callback	optional callback for dynamic parameter changes

Exceptions

ParameterException

on error

setSkipFlightControllerConnectionCheck()

void auterion::SDK::setSkipFlightControllerConnectionCheck ( bool  skip )

inline

By default, run() will first check if the flight controller is connected and ensure message format compatibility. This method can be used to disable that check.

Parameters

skip

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

• include/auterion_sdk/auterion.hpp