px4_ros2::NodeWithModeExecutor< ModeExecutorT, OwnedModeT, OtherModesT > Class Template Reference

A ROS2 node which instantiates a mode executor and its owned mode, and handles their registration with PX4. More...

#include <px4_ros2/components/node_with_mode.hpp>

Inheritance diagram for px4_ros2::NodeWithModeExecutor< ModeExecutorT, OwnedModeT, OtherModesT >:

Public Member Functions
	NodeWithModeExecutor (std::string node_name, bool enable_debug_output=false)
template<typename ModeT = OwnedModeT>
ModeT &	getMode () const

Detailed Description

template<typename ModeExecutorT, typename OwnedModeT, typename ... OtherModesT>
class px4_ros2::NodeWithModeExecutor< ModeExecutorT, OwnedModeT, OtherModesT >

A ROS2 node which instantiates a mode executor and its owned mode, and handles their registration with PX4.

Assumes mode executor constructor signature is ModeExecutorT(rclcpp::Node, OwnedModeT, OtherModesT...).

Template Parameters

ModeExecutorT	The mode executor type, which must be derived from px4_ros2::ModeExecutorBase.
OwnedModeT	The mode type owned by the executor, which must be derived from px4_ros2::ModeBase.
OtherModesT	Optional additional modes not owned by the executor but registered by the node, which must be derived from px4_ros2::ModeBase.

Example usage:

class MyMode : public px4_ros2::ModeBase {...};
class MyExecutor : public px4_ros2::ModeExecutor {...};
rclcpp::spin(std::make_shared<px4_ros2::NodeWithMode<MyExecutor, MyMode>>("my_node"));

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

• px4_ros2_cpp/include/px4_ros2/components/node_with_mode.hpp