Base controller class to combine ros2_control, control libraries and modulo. More...

#include <BaseControllerInterface.hpp>

Inheritance diagram for modulo_controllers::BaseControllerInterface:

Public Member Functions
	BaseControllerInterface ()
	Default constructor.

CallbackReturn	on_init () override
	Declare parameters and register the on_set_parameters callback.

CallbackReturn	on_configure (const rclcpp_lifecycle::State &previous_state) override
	Add signals.

template<>
void	write_output (const std::string &name, const bool &data)

template<>
void	write_output (const std::string &name, const double &data)

template<>
void	write_output (const std::string &name, const std::vector< double > &data)

template<>
void	write_output (const std::string &name, const int &data)

template<>
void	write_output (const std::string &name, const std::string &data)

Protected Member Functions
void	add_parameter (const std::shared_ptr< state_representation::ParameterInterface > &parameter, const std::string &description, bool read_only=false)
	Add a parameter.

template<typename T >
void	add_parameter (const std::string &name, const T &value, const std::string &description, bool read_only=false)
	Add a parameter.

virtual bool	on_validate_parameter_callback (const std::shared_ptr< state_representation::ParameterInterface > &parameter)
	Parameter validation function to be redefined by derived controller classes.

std::shared_ptr< state_representation::ParameterInterface >	get_parameter (const std::string &name) const
	Get a parameter by name.

template<typename T >
T	get_parameter_value (const std::string &name) const
	Get a parameter value by name.

template<typename T >
void	set_parameter_value (const std::string &name, const T &value)
	Set the value of a parameter.

template<typename T >
void	add_assignment (const std::string &assignment_name)
	Add an assignment to the map of assignments.

template<typename T >
void	set_assignment (const std::string &assignment_name, const T &assignment_value)
	Set an assignment.

template<typename T >
T	get_assignment (const std::string &assignment_name) const
	Get the value of an assignment.

void	add_predicate (const std::string &predicate_name, bool predicate_value)
	Add a predicate to the map of predicates.

void	add_predicate (const std::string &predicate_name, const std::function< bool(void)> &predicate_function)
	Add a predicate to the map of predicates based on a function to periodically call.

bool	get_predicate (const std::string &predicate_name) const
	Get the logical value of a predicate.

void	set_predicate (const std::string &predicate_name, bool predicate_value)
	Set the value of the predicate given as parameter, if the predicate is not found does not do anything.

void	set_predicate (const std::string &predicate_name, const std::function< bool(void)> &predicate_function)
	Set the value of the predicate given as parameter, if the predicate is not found does not do anything.

void	add_trigger (const std::string &trigger_name)
	Add a trigger to the controller.

void	trigger (const std::string &trigger_name)
	Latch the trigger with the provided name.

template<typename T >
void	add_input (const std::string &name, const std::string &topic_name="")
	Add an input to the controller.

template<typename T >
void	add_output (const std::string &name, const std::string &topic_name="")
	Add an output to the controller.

template<typename T >
std::optional< T >	read_input (const std::string &name)
	Read the most recent message of an input.

template<typename T >
void	write_output (const std::string &name, const T &data)
	Write an object to an output.

void	add_service (const std::string &service_name, const std::function< ControllerServiceResponse(void)> &callback)
	Add a service to trigger a callback function with no input arguments.

void	add_service (const std::string &service_name, const std::function< ControllerServiceResponse(const std::string &string)> &callback)
	Add a service to trigger a callback function with a string payload.

void	add_service_lockfree (const std::string &service_name, const std::function< ControllerServiceResponse(void)> &callback)

void	add_service_lockfree (const std::string &service_name, const std::function< ControllerServiceResponse(const std::string &string)> &callback)

void	add_tf_listener ()
	Configure a transform buffer and listener.

state_representation::CartesianPose	lookup_transform (const std::string &frame, const std::string &reference_frame, const tf2::TimePoint &time_point, const tf2::Duration &duration)
	Look up a transform from TF.

state_representation::CartesianPose	lookup_transform (const std::string &frame, const std::string &reference_frame="world", double validity_period=-1.0, const tf2::Duration &duration=tf2::Duration(std::chrono::microseconds(10)))
	Look up a transform from TF.

void	add_tf_broadcaster ()
	Configure a transform broadcaster.

void	add_static_tf_broadcaster ()
	Configure a static transform broadcaster.

void	send_transform (const state_representation::CartesianPose &transform)
	Send a transform to TF.

void	send_transforms (const std::vector< state_representation::CartesianPose > &transforms)
	Send a vector of transforms to TF.

void	send_static_transform (const state_representation::CartesianPose &transform)
	Send a static transform to TF.

void	send_static_transforms (const std::vector< state_representation::CartesianPose > &transforms)
	Send a vector of static transforms to TF.

rclcpp::QoS	get_qos () const
	Getter of the Quality of Service attribute.

void	set_qos (const rclcpp::QoS &qos)
	Set the Quality of Service for ROS publishers and subscribers.

bool	is_active () const
	Check if the controller is currently in state active or not.

std::timed_mutex &	get_command_mutex ()
	Get the reference to the command mutex.

template<>
void	add_input (const std::string &name, const std::string &topic_name)

template<>
void	add_input (const std::string &name, const std::string &topic_name)

template<>
void	add_input (const std::string &name, const std::string &topic_name)

template<>
void	add_output (const std::string &name, const std::string &topic_name)

template<>
void	add_output (const std::string &name, const std::string &topic_name)

template<>
void	add_output (const std::string &name, const std::string &topic_name)

template<>
std::optional< bool >	read_input (const std::string &name)

template<>
std::optional< double >	read_input (const std::string &name)

template<>
std::optional< int >	read_input (const std::string &name)

Detailed Description

Base controller class to combine ros2_control, control libraries and modulo.

Definition at line 111 of file BaseControllerInterface.hpp.

Constructor & Destructor Documentation

◆ BaseControllerInterface()

modulo_controllers::BaseControllerInterface::BaseControllerInterface ( )

Default constructor.

Definition at line 23 of file BaseControllerInterface.cpp.

Member Function Documentation

◆ add_assignment()

template<typename T >

void modulo_controllers::BaseControllerInterface::add_assignment ( const std::string & assignment_name )

inlineprotected

Add an assignment to the map of assignments.

Template Parameters

T	The type of the assignment

Parameters

assignment_name the name of the associated assignment

Definition at line 1089 of file BaseControllerInterface.hpp.

◆ add_input() [1/4]

template<>

void modulo_controllers::BaseControllerInterface::add_input	(	const std::string &	name,
		const std::string &	topic_name )

inlineprotected

Definition at line 719 of file BaseControllerInterface.hpp.

◆ add_input() [2/4]

template<>

void modulo_controllers::BaseControllerInterface::add_input	(	const std::string &	name,
		const std::string &	topic_name )

inlineprotected

Definition at line 726 of file BaseControllerInterface.hpp.

◆ add_input() [3/4]

template<>

void modulo_controllers::BaseControllerInterface::add_input	(	const std::string &	name,
		const std::string &	topic_name )

inlineprotected

Definition at line 741 of file BaseControllerInterface.hpp.

◆ add_input() [4/4]

template<typename T >

void modulo_controllers::BaseControllerInterface::add_input	(	const std::string &	name,
		const std::string &	topic_name = "" )

inlineprotected

Add an input to the controller.

Inputs should be added in the on_init function of the derived controllers. Doing this will create a ROS 2 subscription for the message type.

Template Parameters

T	The type of the input data

Parameters

name	The name of the input
topic_name	The topic name of the input (defaults to ~/name)

Definition at line 685 of file BaseControllerInterface.hpp.

◆ add_output() [1/4]

template<>

void modulo_controllers::BaseControllerInterface::add_output	(	const std::string &	name,
		const std::string &	topic_name )

inlineprotected

Definition at line 784 of file BaseControllerInterface.hpp.

◆ add_output() [2/4]

template<>

void modulo_controllers::BaseControllerInterface::add_output	(	const std::string &	name,
		const std::string &	topic_name )

inlineprotected

Definition at line 789 of file BaseControllerInterface.hpp.

◆ add_output() [3/4]

template<>

void modulo_controllers::BaseControllerInterface::add_output	(	const std::string &	name,
		const std::string &	topic_name )

inlineprotected

Definition at line 800 of file BaseControllerInterface.hpp.

◆ add_output() [4/4]

template<typename T >

void modulo_controllers::BaseControllerInterface::add_output	(	const std::string &	name,
		const std::string &	topic_name = "" )

inlineprotected

Add an output to the controller.

Outputs should be added in the on_init function of the derived controllers. Doing this will create a ROS 2 publisher for the message type and wrap it in a RealtimePublisher.

Template Parameters

T	The type of the output data

Parameters

name	The name of the output
topic_name	The topic name of the output (defaults to ~/name)

Definition at line 764 of file BaseControllerInterface.hpp.

◆ add_parameter() [1/2]

void modulo_controllers::BaseControllerInterface::add_parameter	(	const std::shared_ptr< state_representation::ParameterInterface > &	parameter,
		const std::string &	description,
		bool	read_only = false )

protected

Add a parameter.

This method stores a pointer reference to an existing Parameter object in the local parameter map and declares the equivalent ROS parameter on the ROS interface.

Parameters

parameter	A ParameterInterface pointer to a Parameter instance
description	The description of the parameter
read_only	If true, the value of the parameter cannot be changed after declaration

◆ add_parameter() [2/2]

template<typename T >

void modulo_controllers::BaseControllerInterface::add_parameter	(	const std::string &	name,
		const T &	value,
		const std::string &	description,
		bool	read_only = false )

inlineprotected

Add a parameter.

This method creates a new Parameter object instance to reference in the local parameter map and declares the equivalent ROS parameter on the ROS interface.

Template Parameters

T	The type of the parameter

Parameters

name	The name of the parameter
value	The value of the parameter
description	The description of the parameter
read_only	If true, the value of the parameter cannot be changed after declaration

Definition at line 645 of file BaseControllerInterface.hpp.

◆ add_predicate() [1/2]

void modulo_controllers::BaseControllerInterface::add_predicate	(	const std::string &	predicate_name,
		bool	predicate_value )

protected

Add a predicate to the map of predicates.

Parameters

predicate_name	the name of the associated predicate
predicate_value	the boolean value of the predicate

Definition at line 181 of file BaseControllerInterface.cpp.

◆ add_predicate() [2/2]

void modulo_controllers::BaseControllerInterface::add_predicate	(	const std::string &	predicate_name,
		const std::function< bool(void)> &	predicate_function )

protected

Add a predicate to the map of predicates based on a function to periodically call.

Parameters

predicate_name	the name of the associated predicate
predicate_function	the function to call that returns the value of the predicate

Definition at line 185 of file BaseControllerInterface.cpp.

◆ add_service() [1/2]

void modulo_controllers::BaseControllerInterface::add_service	(	const std::string &	service_name,
		const std::function< ControllerServiceResponse(const std::string &string)> &	callback )

protected

Add a service to trigger a callback function with a string payload.

The string payload can have an arbitrary format to parameterize and control the callback behaviour as desired. It is the responsibility of the service callback to parse the string according to some payload format. When adding a service with a string payload, be sure to document the payload format appropriately.

Parameters

service_name	The name of the service
callback	A service callback function with a string argument that returns a ControllerServiceResponse

Definition at line 501 of file BaseControllerInterface.cpp.

◆ add_service() [2/2]

void modulo_controllers::BaseControllerInterface::add_service	(	const std::string &	service_name,
		const std::function< ControllerServiceResponse(void)> &	callback )

protected

Add a service to trigger a callback function with no input arguments.

Parameters

service_name	The name of the service
callback	A service callback function with no arguments that returns a ControllerServiceResponse

Definition at line 496 of file BaseControllerInterface.cpp.

◆ add_service_lockfree() [1/2]

void modulo_controllers::BaseControllerInterface::add_service_lockfree	(	const std::string &	service_name,
		const std::function< ControllerServiceResponse(const std::string &string)> &	callback )

protected

The string payload can have an arbitrary format to parameterize and control the callback behaviour as desired. It is the responsibility of the service callback to parse the string according to some payload format. When adding a service with a string payload, be sure to document the payload format appropriately.

Parameters

service_name	The name of the service
callback	A service callback function with a string argument that returns a ControllerServiceResponse

Definition at line 512 of file BaseControllerInterface.cpp.

◆ add_service_lockfree() [2/2]

void modulo_controllers::BaseControllerInterface::add_service_lockfree	(	const std::string &	service_name,
		const std::function< ControllerServiceResponse(void)> &	callback )

protected

Parameters

service_name	The name of the service
callback	A service callback function with no arguments that returns a ControllerServiceResponse

Definition at line 507 of file BaseControllerInterface.cpp.

◆ add_static_tf_broadcaster()

void modulo_controllers::BaseControllerInterface::add_static_tf_broadcaster ( )

protected

Configure a static transform broadcaster.

Definition at line 577 of file BaseControllerInterface.cpp.

◆ add_tf_broadcaster()

void modulo_controllers::BaseControllerInterface::add_tf_broadcaster ( )

protected

Configure a transform broadcaster.

Definition at line 567 of file BaseControllerInterface.cpp.

◆ add_tf_listener()

void modulo_controllers::BaseControllerInterface::add_tf_listener ( )

protected

Configure a transform buffer and listener.

Definition at line 518 of file BaseControllerInterface.cpp.

◆ add_trigger()

void modulo_controllers::BaseControllerInterface::add_trigger ( const std::string & trigger_name )

protected

Add a trigger to the controller.

Triggers are predicates that are always false except when it's triggered in which case it is set back to false immediately after it is read.

Parameters

trigger_name The name of the trigger

Definition at line 243 of file BaseControllerInterface.cpp.

◆ get_assignment()

template<typename T >

T modulo_controllers::BaseControllerInterface::get_assignment ( const std::string & assignment_name ) const

inlineprotected

Get the value of an assignment.

Template Parameters

T	The type of the assignment value

Parameters

assignment_name The name of the assignment to get

Exceptions

modulo_core::exceptions::InvalidAssignmentException	if the assignment does not exist or the type does not match
state_representation::exceptions::EmptyStateException	if the assignment has not been set yet

Definition at line 1152 of file BaseControllerInterface.hpp.

◆ get_command_mutex()

std::timed_mutex & modulo_controllers::BaseControllerInterface::get_command_mutex ( )

protected

Get the reference to the command mutex.

Returns: The reference to the command mutex

Definition at line 616 of file BaseControllerInterface.cpp.

◆ get_parameter()

std::shared_ptr< ParameterInterface > modulo_controllers::BaseControllerInterface::get_parameter ( const std::string & name ) const

nodiscardprotected

Get a parameter by name.

Parameters

name	The name of the parameter

Returns: The ParameterInterface pointer to a Parameter instance

Definition at line 115 of file BaseControllerInterface.cpp.

◆ get_parameter_value()

template<typename T >

T modulo_controllers::BaseControllerInterface::get_parameter_value ( const std::string & name ) const

inlineprotected

Get a parameter value by name.

Template Parameters

T	The type of the parameter

Parameters

name	The name of the parameter

Returns: The value of the parameter

Definition at line 655 of file BaseControllerInterface.hpp.

◆ get_predicate()

bool modulo_controllers::BaseControllerInterface::get_predicate ( const std::string & predicate_name ) const

nodiscardprotected

Get the logical value of a predicate.

If the predicate is not found or the callable function fails, the return value is false.

Parameters

predicate_name the name of the predicate to retrieve from the map of predicates

Returns: the value of the predicate as a boolean

Definition at line 206 of file BaseControllerInterface.cpp.

◆ get_qos()

rclcpp::QoS modulo_controllers::BaseControllerInterface::get_qos ( ) const

nodiscardprotected

Getter of the Quality of Service attribute.

Returns: The Quality of Service attribute

Definition at line 604 of file BaseControllerInterface.cpp.

◆ is_active()

bool modulo_controllers::BaseControllerInterface::is_active ( ) const

protected

Check if the controller is currently in state active or not.

Returns: True if the controller is active, false otherwise

Definition at line 612 of file BaseControllerInterface.cpp.

◆ lookup_transform() [1/2]

state_representation::CartesianPose modulo_controllers::BaseControllerInterface::lookup_transform	(	const std::string &	frame,
		const std::string &	reference_frame,
		const tf2::TimePoint &	time_point,
		const tf2::Duration &	duration )

nodiscardprotected

Look up a transform from TF.

Parameters

frame	The desired frame of the transform
reference_frame	The desired reference frame of the transform
time_point	The time at which the value of the transform is desired
duration	How long to block the lookup call before failing

Exceptions

modulo_core::exceptions::LookupTransformException if TF buffer/listener are unconfigured or if the lookupTransform call failed

Returns: If it exists, the requested transform

Definition at line 529 of file BaseControllerInterface.cpp.

◆ lookup_transform() [2/2]

state_representation::CartesianPose modulo_controllers::BaseControllerInterface::lookup_transform	(	const std::string &	frame,
		const std::string &	reference_frame = "world",
		double	validity_period = -1.0,
		const tf2::Duration &	duration = tf2::Duration(std::chrono::microseconds(10)) )

nodiscardprotected

Look up a transform from TF.

Parameters

frame	The desired frame of the transform
reference_frame	The desired reference frame of the transform
validity_period	The validity period of the latest transform from the time of lookup in seconds
duration	How long to block the lookup call before failing

Exceptions

modulo_core::exceptions::LookupTransformException if TF buffer/listener are unconfigured, if the lookupTransform call failed, or if the transform is too old

Returns: If it exists and is still valid, the requested transform

Definition at line 538 of file BaseControllerInterface.cpp.

◆ on_configure()

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn modulo_controllers::BaseControllerInterface::on_configure ( const rclcpp_lifecycle::State & previous_state )

override

Add signals.

Parameters

previous_state The previous lifecycle state

Returns: SUCCESS or ERROR

Definition at line 49 of file BaseControllerInterface.cpp.

◆ on_init()

rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn modulo_controllers::BaseControllerInterface::on_init ( )

override

Declare parameters and register the on_set_parameters callback.

Returns: CallbackReturn status

Definition at line 26 of file BaseControllerInterface.cpp.

◆ on_validate_parameter_callback()

bool modulo_controllers::BaseControllerInterface::on_validate_parameter_callback ( const std::shared_ptr< state_representation::ParameterInterface > & parameter )

protectedvirtual

Parameter validation function to be redefined by derived controller classes.

This method is automatically invoked whenever the ROS interface tried to modify a parameter. Validation and sanitization can be performed by reading or writing the value of the parameter through the ParameterInterface pointer, depending on the parameter name and desired controller behaviour. If the validation returns true, the updated parameter value (including any modifications) is applied. If the validation returns false, any changes to the parameter are discarded and the parameter value is not changed.

Parameters

parameter A ParameterInterface pointer to a Parameter instance

Returns: The validation result

Reimplemented in modulo_controllers::ControllerInterface, and modulo_controllers::RobotControllerInterface.

Definition at line 177 of file BaseControllerInterface.cpp.

◆ read_input() [1/4]

template<typename T >

std::optional< T > modulo_controllers::BaseControllerInterface::read_input ( const std::string & name )

inlineprotected

Read the most recent message of an input.

Template Parameters

T	The expected type of the input data

Parameters

name	The name of the input

Returns: The data on the desired input channel if the input exists and is not older than parameter 'input_validity_period'

Definition at line 810 of file BaseControllerInterface.hpp.

◆ read_input() [2/4]

template<>

std::optional< bool > modulo_controllers::BaseControllerInterface::read_input ( const std::string & name )

inlineprotected

Definition at line 810 of file BaseControllerInterface.hpp.

◆ read_input() [3/4]

template<>

std::optional< double > modulo_controllers::BaseControllerInterface::read_input ( const std::string & name )

inlineprotected

template<typename T >

void modulo_controllers::BaseControllerInterface::set_assignment	(	const std::string &	assignment_name,
		const T &	assignment_value )

inlineprotected

Set an assignment.

Template Parameters

T	The type of the assignment

Parameters

assignment_name	The name of the assignment to publish
assignment_value	The value of the assignment

Definition at line 1121 of file BaseControllerInterface.hpp.

◆ set_parameter_value()

template<typename T >

void modulo_controllers::BaseControllerInterface::set_parameter_value	(	const std::string &	name,
		const T &	value )

inlineprotected

Set the value of a parameter.

The parameter must have been previously declared. This method preserves the reference to the original Parameter instance

Template Parameters

T	The type of the parameter

Parameters

name	The name of the parameter

Returns: The value of the parameter

Definition at line 665 of file BaseControllerInterface.hpp.

◆ set_predicate() [1/2]

void modulo_controllers::BaseControllerInterface::set_predicate	(	const std::string &	predicate_name,
		bool	predicate_value )

protected

Set the value of the predicate given as parameter, if the predicate is not found does not do anything.

Even though the predicates are published periodically, the new value of this predicate will be published once immediately after setting it.

Parameters

predicate_name	the name of the predicate to retrieve from the map of predicates
predicate_value	the new value of the predicate

Definition at line 224 of file BaseControllerInterface.cpp.

◆ set_predicate() [2/2]

void modulo_controllers::BaseControllerInterface::set_predicate	(	const std::string &	predicate_name,
		const std::function< bool(void)> &	predicate_function )

protected

Set the value of the predicate given as parameter, if the predicate is not found does not do anything.

Even though the predicates are published periodically, the new value of this predicate will be published once immediately after setting it.

Parameters

predicate_name	the name of the predicate to retrieve from the map of predicates
predicate_function	the function to call that returns the value of the predicate

Definition at line 228 of file BaseControllerInterface.cpp.

◆ set_qos()

void modulo_controllers::BaseControllerInterface::set_qos ( const rclcpp::QoS & qos )

protected

Set the Quality of Service for ROS publishers and subscribers.

Parameters

qos	The desired Quality of Service

Definition at line 608 of file BaseControllerInterface.cpp.

◆ trigger()

void modulo_controllers::BaseControllerInterface::trigger ( const std::string & trigger_name )

protected

Latch the trigger with the provided name.

Parameters

trigger_name The name of the trigger

Definition at line 264 of file BaseControllerInterface.cpp.

◆ write_output() [1/6]

template<>

void modulo_controllers::BaseControllerInterface::write_output	(	const std::string &	name,
		const bool &	data )

inline

Definition at line 1003 of file BaseControllerInterface.hpp.

◆ write_output() [2/6]

template<>

void modulo_controllers::BaseControllerInterface::write_output	(	const std::string &	name,
		const double &	data )

inline

Definition at line 1008 of file BaseControllerInterface.hpp.

◆ write_output() [3/6]

template<>

void modulo_controllers::BaseControllerInterface::write_output	(	const std::string &	name,
		const int &	data )

inline

Definition at line 1018 of file BaseControllerInterface.hpp.

◆ write_output() [4/6]

template<>

void modulo_controllers::BaseControllerInterface::write_output	(	const std::string &	name,
		const std::string &	data )

inline

Definition at line 1023 of file BaseControllerInterface.hpp.

◆ write_output() [5/6]

template<>

void modulo_controllers::BaseControllerInterface::write_output	(	const std::string &	name,
		const std::vector< double > &	data )

inline

Definition at line 1013 of file BaseControllerInterface.hpp.

◆ write_output() [6/6]

template<typename T >

void modulo_controllers::BaseControllerInterface::write_output	(	const std::string &	name,
		const T &	data )

inlineprotected

Write an object to an output.

This uses the realtime publisher from add_output() to simplify publishing data in the realtime context of the control loop.

Template Parameters

T	The type of the the object to publish

Parameters

name	The name of the output
state	The object to publish

Definition at line 910 of file BaseControllerInterface.hpp.

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

/github/workspace/source/modulo_controllers/include/modulo_controllers/BaseControllerInterface.hpp
/github/workspace/source/modulo_controllers/src/BaseControllerInterface.cpp

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ BaseControllerInterface()

Member Function Documentation

◆ add_assignment()

◆ add_input() [1/4]

◆ add_input() [2/4]

◆ add_input() [3/4]

◆ add_input() [4/4]

◆ add_output() [1/4]

◆ add_output() [2/4]

◆ add_output() [3/4]

◆ add_output() [4/4]

◆ add_parameter() [1/2]

◆ add_parameter() [2/2]

◆ add_predicate() [1/2]

◆ add_predicate() [2/2]

◆ add_service() [1/2]

◆ add_service() [2/2]

◆ add_service_lockfree() [1/2]

◆ add_service_lockfree() [2/2]

◆ add_static_tf_broadcaster()

◆ add_tf_broadcaster()

◆ add_tf_listener()

◆ add_trigger()

◆ get_assignment()

◆ get_command_mutex()

◆ get_parameter()

◆ get_parameter_value()

◆ get_predicate()

◆ get_qos()

◆ is_active()

◆ lookup_transform() [1/2]

◆ lookup_transform() [2/2]

◆ on_configure()

◆ on_init()

◆ on_validate_parameter_callback()

◆ read_input() [1/4]

◆ read_input() [2/4]

◆ read_input() [3/4]

◆ read_input() [4/4]

◆ send_static_transform()

◆ send_static_transforms()

◆ send_transform()

◆ send_transforms()

◆ set_assignment()

◆ set_parameter_value()

◆ set_predicate() [1/2]

◆ set_predicate() [2/2]

◆ set_qos()

◆ trigger()

◆ write_output() [1/6]

◆ write_output() [2/6]

◆ write_output() [3/6]

◆ write_output() [4/6]

◆ write_output() [5/6]

◆ write_output() [6/6]