Internal node behaviour

Internal state machine of ROS components created with BRIDE

The node_impl.configure() and node_impl.update() functions can be implemented by the user. The rest is autogenerated based on the capability model.

By specifying a node frequency the "input sync, update and publish" routine will be triggered cyclic. Activating the "Event Port" feature of a subscriber will also trigger the routine whenever data is received on the subscriber. Both triggering mechanisms can be used in parallel.