Class Writer¶
Defined in File Writer.hpp
Inheritance Relationships¶
Base Type¶
public std::enable_shared_from_this< Writer >
Class Documentation¶
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class
rmf_traffic_ros2::blockade
::
Writer
: public std::enable_shared_from_this<Writer>¶ The Writer class provides an API that allows a Node to create blockade Participants.
Public Types
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using
ReservedRange
= rmf_traffic::blockade::ReservedRange¶
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using
ReservationId
= rmf_traffic::blockade::ReservationId¶
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using
NewRangeCallback
= std::function<void(const ReservationId reservation, const ReservedRange &range)>¶
Public Functions
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rmf_traffic::blockade::Participant
make_participant
(rmf_traffic::blockade::ParticipantId id, double radius, NewRangeCallback new_range_cb)¶ Make a blockade participant.
- Return
the API for updating the blockade Participant.
- Parameters
[in] id
: The ID of the participant that is being created. This must match the schedule ParticipantId. All blockade participants must also be schedule participants to comply with the RMF traffic protocol.[in] radius
: The radius around the path that the participant will occupy.[in] new_range_cb
: This callback will get triggered when a new range arrives.
Public Static Functions
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static std::shared_ptr<Writer>
make
(rclcpp::Node &node)¶ Create an instance of a writer. The writer and all Participants it creates depend on the life of the rclcpp::Node. It’s best to keep all of these as members of the Node.
- Parameters
[in] node
: The node that will manage the subscriptions of this writer.
-
using