sas::SimulatorClient Class Reference

Client for controlling a simulator via ROS services. More...

#include <sas_simulator_client.hpp>

Inheritance diagram for sas::SimulatorClient:

Public Member Functions
	SimulatorClient (const SimulatorClient &)=delete
	SimulatorClient (const std::shared_ptr< Node > &node, const std::string topic_prefix="GET_FROM_NODE")
	Construct a new SimulatorClient.
bool	start_simulation ()
	Call the start simulation service.
bool	stop_simulation ()
	Call the stop simulation service.
bool	is_enabled () const
	Query whether the client is enabled.
std::string	get_topic_prefix () const
	Get the configured topic/service prefix.

Detailed Description

Client for controlling a simulator via ROS services.

The SimulatorClient provides a lightweight interface to call start/stop simulation services (std_srvs::srv::Trigger) and to query configuration such as whether the client is enabled and the topic/service prefix.

Constructor & Destructor Documentation

SimulatorClient()

sas::SimulatorClient::SimulatorClient	(	const std::shared_ptr< Node > &	node,
		const std::string	topic_prefix = "GET_FROM_NODE"
	)

Construct a new SimulatorClient.

Parameters

node	Shared pointer to the rclcpp::Node used for ROS communications.
topic_prefix	Topic/service prefix used to build service names. Defaults to "GET_FROM_NODE".

Member Function Documentation

get_topic_prefix()

std::string sas::SimulatorClient::get_topic_prefix

(

)

const

Get the configured topic/service prefix.

Returns

std::string The topic/service prefix used by this client.

is_enabled()

bool sas::SimulatorClient::is_enabled

(

)

const

Query whether the client is enabled.

Returns

true if enabled, false otherwise.

start_simulation()

bool sas::SimulatorClient::start_simulation

(

)

Call the start simulation service.

Invokes the configured start service and returns true if the call succeeded and the service responded positively.

Returns

true on successful start, false otherwise.

stop_simulation()

bool sas::SimulatorClient::stop_simulation

(

)

Call the stop simulation service.

Invokes the configured stop service and returns true if the call succeeded and the service responded positively.

Returns

true on successful stop, false otherwise.

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

• src/sas_common/include/sas_common/sas_simulator_client.hpp
• src/sas_common/src/sas_simulator_client.cpp