bob_llama_cpp.lnode
Classes
Simple LifecycleNode default wrapper. |
Module Contents
- class bob_llama_cpp.lnode.LNode(node_name, *, enable_communication_interface: bool = True, **kwargs)
Bases:
rclpy.lifecycle.LifecycleNodeSimple LifecycleNode default wrapper. It can be used as a replacement for the standard rclpy.Node to turn any existing normal ROS Node into a lifecycle ROS node. Handles the basic LifecycleNode events configure, cleanup” and shutdown. The functions configure and destroy have to be overidden in order to use it. Everything important in the rclpy.Node __init__ function need to go into overidden configure function. In the overidden destroy function resources, like subscribers etc, have to be released.
- abstractmethod configure()
- abstractmethod destroy()
- on_configure(previous_state: rclpy.lifecycle.node.LifecycleState)
- on_cleanup(previous_state: rclpy.lifecycle.node.LifecycleState)
- on_shutdown(previous_state: rclpy.lifecycle.node.LifecycleState)