on_activate

最新推荐文章于 2024-07-10 19:27:42 发布

皮皮木子

最新推荐文章于 2024-07-10 19:27:42 发布

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文章标签： python

本文链接：https://blog.csdn.net/pipimuzi/article/details/140180657

版权

LifecycleNode

register_on_activate
on_activate

// include\rclcpp_lifecycle\lifecycle_node.hpp

namespace rclcpp_lifecycle
{

class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
  public std::enable_shared_from_this<LifecycleNode>
{
public:


  /// Register the activate callback
  /**
   * This callback will be called when the transition to this state is triggered
   * \param[in] fcn callback function to call
   * \return always true
   */
  RCLCPP_LIFECYCLE_PUBLIC
  bool
  register_on_activate(std::function<LifecycleNodeInterface::CallbackReturn(const State &)> fcn);


  RCLCPP_LIFECYCLE_PUBLIC
  CallbackReturn
  on_activate(const State & previous_state) override;


}
}

ros_controller

使用 rclcpp_lifecycle::LifecycleNode 类创建Node
使用 rclcpp_lifecycle::LifecycleNode 类的成员方法 register_on_activate，注册 on_activate（）

// controller_interface\src\controller_interface_base.cpp

namespace controller_interface
{
return_type ControllerInterfaceBase::init(
  const std::string & controller_name, const std::string & namespace_,
  const rclcpp::NodeOptions & node_options)
{
  node_ = std::make_shared<rclcpp_lifecycle::LifecycleNode>(
    controller_name, namespace_, node_options, false);  // disable LifecycleNode service interfaces

  try
  {
    auto_declare<int>("update_rate", 0);
  }
  catch (const std::exception & e)
  {
    fprintf(stderr, "Exception thrown during init stage with message: %s \n", e.what());
    return return_type::ERROR;
  }

  switch (on_init())
  {
    case LifecycleNodeInterface::CallbackReturn::SUCCESS:
      break;
    case LifecycleNodeInterface::CallbackReturn::ERROR:
    case LifecycleNodeInterface::CallbackReturn::FAILURE:
      return return_type::ERROR;
  }

  node_->register_on_configure(
    std::bind(&ControllerInterfaceBase::on_configure, this, std::placeholders::_1));

  node_->register_on_cleanup(
    std::bind(&ControllerInterfaceBase::on_cleanup, this, std::placeholders::_1));

  node_->register_on_activate(
    std::bind(&ControllerInterfaceBase::on_activate, this, std::placeholders::_1));

  node_->register_on_deactivate(
    std::bind(&ControllerInterfaceBase::on_deactivate, this, std::placeholders::_1));

  node_->register_on_shutdown(
    std::bind(&ControllerInterfaceBase::on_shutdown, this, std::placeholders::_1));

  node_->register_on_error(
    std::bind(&ControllerInterfaceBase::on_error, this, std::placeholders::_1));

  return return_type::OK;
}
}