rclcpp  master
C++ ROS Client Library API
Namespaces | Functions
utilities.hpp File Reference
#include <chrono>
#include <functional>
#include <limits>
#include <string>
#include <vector>
#include "rclcpp/context.hpp"
#include "rclcpp/init_options.hpp"
#include "rclcpp/visibility_control.hpp"
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Namespaces

 rclcpp
 This header provides the get_node_base_interface() template function.
 

Functions

void rclcpp::init (int argc, char const *const argv[], const InitOptions &init_options=InitOptions())
 Initialize communications via the rmw implementation and set up a global signal handler. More...
 
bool rclcpp::install_signal_handlers ()
 Install the global signal handler for rclcpp. More...
 
bool rclcpp::signal_handlers_installed ()
 Return true if the signal handlers are installed, otherwise false. More...
 
bool rclcpp::uninstall_signal_handlers ()
 Uninstall the global signal handler for rclcpp. More...
 
std::vector< std::stringrclcpp::init_and_remove_ros_arguments (int argc, char const *const argv[], const InitOptions &init_options=InitOptions())
 Initialize communications via the rmw implementation and set up a global signal handler. More...
 
std::vector< std::stringrclcpp::remove_ros_arguments (int argc, char const *const argv[])
 Remove ROS-specific arguments from argument vector. More...
 
bool rclcpp::ok (rclcpp::Context::SharedPtr context=nullptr)
 Check rclcpp's status. More...
 
bool rclcpp::shutdown (rclcpp::Context::SharedPtr context=nullptr, const std::string &reason="user called rclcpp::shutdown()")
 Shutdown rclcpp context, invalidating it for derived entities. More...
 
void rclcpp::on_shutdown (std::function< void()> callback, rclcpp::Context::SharedPtr context=nullptr)
 Register a function to be called when shutdown is called on the context. More...
 
bool rclcpp::sleep_for (const std::chrono::nanoseconds &nanoseconds, rclcpp::Context::SharedPtr context=nullptr)
 Use the global condition variable to block for the specified amount of time. More...
 
template<typename T >
bool rclcpp::add_will_overflow (const T x, const T y)
 Safely check if addition will overflow. More...
 
template<typename T >
bool rclcpp::add_will_underflow (const T x, const T y)
 Safely check if addition will underflow. More...
 
template<typename T >
bool rclcpp::sub_will_overflow (const T x, const T y)
 Safely check if subtraction will overflow. More...
 
template<typename T >
bool rclcpp::sub_will_underflow (const T x, const T y)
 Safely check if subtraction will underflow. More...
 
const char * rclcpp::get_c_string (const char *string_in)
 Return the given string. More...
 
const char * rclcpp::get_c_string (const std::string &string_in)
 Return the C string from the given std::string. More...