yasmin_ros.yasmin_node.YasminNode Class Reference

Inheritance diagram for yasmin_ros.yasmin_node.YasminNode:

Collaboration diagram for yasmin_ros.yasmin_node.YasminNode:

Public Member Functions
None	__init__ (self)

Static Public Member Functions
"YasminNode"	get_instance ()

Protected Attributes
MultiThreadedExecutor	_executor = MultiThreadedExecutor()
	Executor for managing node operations.
Thread	_spin_thread = Thread(target=self._executor.spin)
	Thread to execute the spinning of the node.

Static Protected Attributes
str	_instance = None
	The single instance of YasminNode.
RLock	_lock = RLock()
	Lock to control access to the instance.

Detailed Description

A ROS 2 node for managing and handling YASMIN-based applications.

YasminNode is a singleton class derived from Node and integrates
custom functionalities for executing specific tasks in a ROS 2 environment.

Attributes:
    _instance (YasminNode): The single instance of YasminNode.
    _lock (RLock): A reentrant lock for thread safety.
    _executor (MultiThreadedExecutor): Executor for managing multiple threads.
    _spin_thread (Thread): Thread for spinning the node.

Raises:
    RuntimeError: Raised when attempting to instantiate the node more than once.

Constructor & Destructor Documentation

__init__()

None yasmin_ros.yasmin_node.YasminNode.__init__

(

self

)

Default constructor. Initializes the node with a unique name.

This constructor initializes the ROS 2 Node and
starts a MultiThreadedExecutor for handling node callbacks.
It raises a RuntimeError if an attempt is made to create a second instance
of this Singleton class.

Raises:
    RuntimeError: Raised when an attempt is made to create
    more than one instance of YasminNode.

Member Function Documentation

get_instance()

"YasminNode" yasmin_ros.yasmin_node.YasminNode.get_instance ( )

static

Provides access to the singleton instance of YasminNode.

This method ensures there is only one instance of YasminNode running.

Returns:
    YasminNode: A reference to the YasminNode instance.

Raises:
    RuntimeError: Raised if the creation of the instance fails.

Member Data Documentation

_executor

MultiThreadedExecutor yasmin_ros.yasmin_node.YasminNode._executor = MultiThreadedExecutor()

protected

Executor for managing node operations.

_instance

str yasmin_ros.yasmin_node.YasminNode._instance = None

staticprotected

The single instance of YasminNode.

_lock

RLock yasmin_ros.yasmin_node.YasminNode._lock = RLock()

staticprotected

Lock to control access to the instance.

_spin_thread

Thread yasmin_ros.yasmin_node.YasminNode._spin_thread = Thread(target=self._executor.spin)

protected

Thread to execute the spinning of the node.

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

• yasmin_ros/yasmin_ros/yasmin_node.py