ros-node-interface -

ros-node-interface v1.0.0

A lightweight C++ and python interface template for managing ROS nodes with start/stop/shutdown control via ROS services.

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This module provides a generic wrapper (BaseRosInterface) around any ROS-compatible module class, enabling it to be: - Started and stopped using ROS service calls - Managed with a clean threaded loop - Extended for custom node types and behaviors

Features

• Threaded execution loop (loop_step)
• Service-based control (start, stop, shutdown)
• Simple modular interface for defining new node types
• Example TestModule provided for demonstration

Example Usage

```cpp

include "ros-node-interface.hpp"

int main(int argc, char **argv) { ros::init(argc, argv, "my_node");

auto my_module = std::make_unique<ros_node_interface::TestModule>(
    ros::NodeHandle(), "my_topic"
);

ros_node_interface::BaseRosInterface<ros_node_interface::TestModule> interface(
    std::move(my_module)
);

return 0;

} ````

Dependencies

• ROS (tested with ROS Noetic)
• std_srvs/Trigger
• C++14 or newer

- C++
Published by HenrikTrom 9 months ago