14#ifndef CANOPEN_BASE_DRIVER__CANOPEN_BASE_DRIVER_HPP_
15#define CANOPEN_BASE_DRIVER__CANOPEN_BASE_DRIVER_HPP_
30 std::shared_ptr<node_interfaces::NodeCanopenBaseDriver<rclcpp::Node>> node_canopen_base_driver_;
33 BaseDriver(rclcpp::NodeOptions node_options = rclcpp::NodeOptions());
37 node_canopen_base_driver_->register_nmt_state_cb(nmt_state_cb);
42 node_canopen_base_driver_->register_rpdo_cb(rpdo_cb);
Abstract Class for a CANopen Device Node.
Definition base_driver.hpp:29
BaseDriver(rclcpp::NodeOptions node_options=rclcpp::NodeOptions())
void register_rpdo_cb(std::function< void(COData, uint8_t)> rpdo_cb)
Definition base_driver.hpp:40
void register_nmt_state_cb(std::function< void(canopen::NmtState, uint8_t)> nmt_state_cb)
Definition base_driver.hpp:35
Canopen Driver.
Definition driver_node.hpp:105
Definition configuration_manager.hpp:28
Definition exchange.hpp:26