rclcpp Namespace Reference

Namespaces
	allocator
	callback_group
	contexts
	exceptions
	executor
	executors
	function_traits
	graph_listener
	intra_process_manager
	mapped_ring_buffer
	memory_strategies
	memory_strategy
	message_memory_strategy
	node_interfaces
	parameter
	strategies
	type_support

Classes
class	AnyServiceCallback
class	AnySubscriptionCallback
class	AsyncParametersClient
class	Client
class	ClientBase
class	Clock
class	Context
class	Duration
class	Event
class	GenericRate
class	GenericTimer
	Generic timer templated on the clock type. Periodically executes a user-specified callback. More...
class	JumpHandler
class	JumpThreshold
	A class to store a threshold for a TimeJump. More...
class	Logger
class	Node
	Node is the single point of entry for creating publishers and subscribers. More...
class	ParameterEventsFilter
class	ParameterService
class	Publisher
	A publisher publishes messages of any type to a topic. More...
class	PublisherBase
struct	PublisherFactory
	Factory with functions used to create a MessageT specific PublisherT. More...
class	RateBase
struct	ScopeExit
class	Service
class	ServiceBase
class	Subscription
	Subscription implementation, templated on the type of message this subscription receives. More...
class	SubscriptionBase
struct	SubscriptionFactory
	Factory with functions used to create a Subscription<MessageT>. More...
class	SyncParametersClient
class	Time
struct	TimeJump
	A struct to represent a timejump. More...
class	TimerBase
class	TimeSource

Typedefs
using	Rate = GenericRate< std::chrono::system_clock >
using	WallRate = GenericRate< std::chrono::steady_clock >
using	VoidCallbackType = std::function< void()>
using	TimerCallbackType = std::function< void(TimerBase &)>
template<typename CallbackType >
using	WallTimer = GenericTimer< CallbackType, std::chrono::steady_clock >

Functions
template<typename MessageT , typename AllocatorT , typename PublisherT >
std::shared_ptr< PublisherT >	create_publisher (rclcpp::node_interfaces::NodeTopicsInterface *node_topics, const std::string &topic_name, const rmw_qos_profile_t &qos_profile, bool use_intra_process_comms, std::shared_ptr< AllocatorT > allocator)
template<typename MessageT , typename CallbackT , typename AllocatorT , typename SubscriptionT >
rclcpp::Subscription< MessageT, AllocatorT >::SharedPtr	create_subscription (rclcpp::node_interfaces::NodeTopicsInterface *node_topics, const std::string &topic_name, CallbackT &&callback, const rmw_qos_profile_t &qos_profile, rclcpp::callback_group::CallbackGroup::SharedPtr group, bool ignore_local_publications, bool use_intra_process_comms, typename rclcpp::message_memory_strategy::MessageMemoryStrategy< MessageT, AllocatorT >::SharedPtr msg_mem_strat, typename std::shared_ptr< AllocatorT > allocator)
void	spin_some (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)
	Create a default single-threaded executor and execute any immediately available work. More...
void	spin_some (rclcpp::Node::SharedPtr node_ptr)
void	spin (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)
	Create a default single-threaded executor and spin the specified node. More...
void	spin (rclcpp::Node::SharedPtr node_ptr)
template<typename FutureT , typename TimeT = std::milli>
rclcpp::executor::FutureReturnCode	spin_until_future_complete (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, std::shared_future< FutureT > &future, std::chrono::duration< int64_t, TimeT > timeout=std::chrono::duration< int64_t, TimeT >(-1))
template<typename NodeT = rclcpp::Node, typename FutureT , typename TimeT = std::milli>
rclcpp::executor::FutureReturnCode	spin_until_future_complete (std::shared_ptr< NodeT > node_ptr, std::shared_future< FutureT > &future, std::chrono::duration< int64_t, TimeT > timeout=std::chrono::duration< int64_t, TimeT >(-1))
std::string	expand_topic_or_service_name (const std::string &name, const std::string &node_name, const std::string &namespace_, bool is_service=false)
	Expand a topic or service name and throw if it is not valid. More...
Logger	get_logger (const std::string &name)
	Return a named logger. More...
template<typename MessageT , typename Alloc , typename PublisherT >
PublisherFactory	create_publisher_factory (std::shared_ptr< Alloc > allocator)
	Return a PublisherFactory with functions setup for creating a PublisherT<MessageT, Alloc>. More...
template<typename Callable >
ScopeExit< Callable >	make_scope_exit (Callable callable)
template<typename MessageT , typename CallbackT , typename Alloc , typename SubscriptionT >
SubscriptionFactory	create_subscription_factory (CallbackT &&callback, typename rclcpp::message_memory_strategy::MessageMemoryStrategy< MessageT, Alloc >::SharedPtr msg_mem_strat, std::shared_ptr< Alloc > allocator)
	Return a SubscriptionFactory with functions for creating a SubscriptionT<MessageT, Alloc>. More...
Time	operator+ (const rclcpp::Duration &lhs, const rclcpp::Time &rhs)
void	init (int argc, char *argv[])
	Initialize communications via the rmw implementation and set up a global signal handler. More...
bool	ok ()
	Check rclcpp's status. More...
void	shutdown ()
	Notify the signal handler and rmw that rclcpp is shutting down. More...
void	on_shutdown (std::function< void(void)> callback)
	Register a function to be called when shutdown is called. More...
rcl_guard_condition_t *	get_sigint_guard_condition (rcl_wait_set_t *wait_set)
	Get a handle to the rmw guard condition that manages the signal handler. More...
void	release_sigint_guard_condition (rcl_wait_set_t *wait_set)
	Release the previously allocated guard condition that manages the signal handler. More...
bool	sleep_for (const std::chrono::nanoseconds &nanoseconds)
	Use the global condition variable to block for the specified amount of time. More...

Typedef Documentation

Rate

using rclcpp::Rate = typedef GenericRate<std::chrono::system_clock>

WallRate

using rclcpp::WallRate = typedef GenericRate<std::chrono::steady_clock>

VoidCallbackType

using rclcpp::VoidCallbackType = typedef std::function<void()>

TimerCallbackType

using rclcpp::TimerCallbackType = typedef std::function<void(TimerBase &)>

WallTimer

template<typename CallbackType >

using rclcpp::WallTimer = typedef GenericTimer<CallbackType, std::chrono::steady_clock>

Function Documentation

create_publisher()

template<typename MessageT , typename AllocatorT , typename PublisherT >

std::shared_ptr<PublisherT> rclcpp::create_publisher	(	rclcpp::node_interfaces::NodeTopicsInterface *	node_topics,
		const std::string &	topic_name,
		const rmw_qos_profile_t &	qos_profile,
		bool	use_intra_process_comms,
		std::shared_ptr< AllocatorT >	allocator
	)

create_subscription()

template<typename MessageT , typename CallbackT , typename AllocatorT , typename SubscriptionT >

rclcpp::Subscription<MessageT, AllocatorT>::SharedPtr rclcpp::create_subscription	(	rclcpp::node_interfaces::NodeTopicsInterface *	node_topics,
		const std::string &	topic_name,
		CallbackT &&	callback,
		const rmw_qos_profile_t &	qos_profile,
		rclcpp::callback_group::CallbackGroup::SharedPtr	group,
		bool	ignore_local_publications,
		bool	use_intra_process_comms,
		typename rclcpp::message_memory_strategy::MessageMemoryStrategy< MessageT, AllocatorT >::SharedPtr	msg_mem_strat,
		typename std::shared_ptr< AllocatorT >	allocator
	)

spin_some() [1/2]

void rclcpp::spin_some

(

rclcpp::node_interfaces::NodeBaseInterface::SharedPtr

node_ptr

)

Create a default single-threaded executor and execute any immediately available work.

Parameters

[in]

node_ptr

Shared pointer to the node to spin.

spin_some() [2/2]

void rclcpp::spin_some

(

rclcpp::Node::SharedPtr

node_ptr

)

spin() [1/2]

void rclcpp::spin

(

rclcpp::node_interfaces::NodeBaseInterface::SharedPtr

node_ptr

)

Create a default single-threaded executor and spin the specified node.

Parameters

[in]

node_ptr

Shared pointer to the node to spin.

spin() [2/2]

void rclcpp::spin

(

rclcpp::Node::SharedPtr

node_ptr

)

spin_until_future_complete() [1/2]

template<typename FutureT , typename TimeT = std::milli>

rclcpp::executor::FutureReturnCode rclcpp::spin_until_future_complete	(	rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	node_ptr,
		std::shared_future< FutureT > &	future,
		std::chrono::duration< int64_t, TimeT >	timeout = std::chrono::duration<int64_t, TimeT>(-1)
	)

spin_until_future_complete() [2/2]

template<typename NodeT = rclcpp::Node, typename FutureT , typename TimeT = std::milli>

rclcpp::executor::FutureReturnCode rclcpp::spin_until_future_complete	(	std::shared_ptr< NodeT >	node_ptr,
		std::shared_future< FutureT > &	future,
		std::chrono::duration< int64_t, TimeT >	timeout = std::chrono::duration<int64_t, TimeT>(-1)
	)

expand_topic_or_service_name()

std::string rclcpp::expand_topic_or_service_name	(	const std::string &	name,
		const std::string &	node_name,
		const std::string &	namespace_,
		bool	is_service = false
	)

Expand a topic or service name and throw if it is not valid.

This function can be used to "just" validate a topic or service name too, since expanding the topic name is required to fully validate a name.

If the name is invalid, then InvalidTopicNameError is thrown or InvalidServiceNameError if is_service is true.

This function can take any form of a topic or service name, i.e. it does not have to be a fully qualified name. The node name and namespace are used to expand it if necessary while validating it.

Expansion is done with rcl_expand_topic_name. The validation is doen with rcl_validate_topic_name and rmw_validate_full_topic_name, so details about failures can be found in the documentation for those functions.

Parameters

name	the topic or service name to be validated
node_name	the name of the node associated with the name
namespace_	the namespace of the node associated with the name
is_service	if true InvalidServiceNameError is thrown instead

Returns

expanded (and validated) topic name

Exceptions

InvalidTopicNameError	if name is invalid and is_service is false
InvalidServiceNameError	if name is invalid and is_service is true
std::bad_alloc	if memory cannot be allocated
RCLError	if an unexpect error occurs

get_logger()

Logger rclcpp::get_logger

(

const std::string &

name

)

Return a named logger.

The returned logger's name will include any naming conventions, such as a name prefix. Currently there are no such naming conventions but they may be introduced in the future.

Parameters

[in]

name

the name of the logger

Returns

a logger with the fully-qualified name including naming conventions, or

a dummy logger if logging is disabled.

create_publisher_factory()

template<typename MessageT , typename Alloc , typename PublisherT >

PublisherFactory rclcpp::create_publisher_factory

(

std::shared_ptr< Alloc >

allocator

)

Return a PublisherFactory with functions setup for creating a PublisherT<MessageT, Alloc>.

make_scope_exit()

template<typename Callable >

ScopeExit<Callable> rclcpp::make_scope_exit

(

Callable

callable

)

create_subscription_factory()

template<typename MessageT , typename CallbackT , typename Alloc , typename SubscriptionT >

SubscriptionFactory rclcpp::create_subscription_factory	(	CallbackT &&	callback,
		typename rclcpp::message_memory_strategy::MessageMemoryStrategy< MessageT, Alloc >::SharedPtr	msg_mem_strat,
		std::shared_ptr< Alloc >	allocator
	)

Return a SubscriptionFactory with functions for creating a SubscriptionT<MessageT, Alloc>.

operator+()

Time rclcpp::operator+	(	const rclcpp::Duration &	lhs,
		const rclcpp::Time &	rhs
	)

init()

void rclcpp::init	(	int	argc,
		char *	argv[]
	)

Initialize communications via the rmw implementation and set up a global signal handler.

Parameters

[in]	argc	Number of arguments.
[in]	argv	Argument vector. Will eventually be used for passing options to rclcpp.

ok()

bool rclcpp::ok

(

)

Check rclcpp's status.

Returns

True if SIGINT hasn't fired yet, false otherwise.

shutdown()

void rclcpp::shutdown

(

)

Notify the signal handler and rmw that rclcpp is shutting down.

on_shutdown()

void rclcpp::on_shutdown

(

std::function< void(void)>

callback

)

Register a function to be called when shutdown is called.

Calling the callbacks is the last thing shutdown() does.

get_sigint_guard_condition()

rcl_guard_condition_t* rclcpp::get_sigint_guard_condition

(

rcl_wait_set_t *

wait_set

)

Get a handle to the rmw guard condition that manages the signal handler.

The first time that this function is called for a given wait set a new guard condition will be created and returned; thereafter the same guard condition will be returned for the same wait set. This mechanism is designed to ensure that the same guard condition is not reused across wait sets (e.g., when using multiple executors in the same process). Will throw an exception if initialization of the guard condition fails.

Parameters

wait_set

Pointer to the rcl_wait_set_t that will be using the resulting guard condition.

Returns

Pointer to the guard condition.

release_sigint_guard_condition()

void rclcpp::release_sigint_guard_condition

(

rcl_wait_set_t *

wait_set

)

Release the previously allocated guard condition that manages the signal handler.

If you previously called get_sigint_guard_condition() for a given wait set to get a sigint guard condition, then you should call release_sigint_guard_condition() when you're done, to free that condition. Will throw an exception if get_sigint_guard_condition() wasn't previously called for the given wait set.

Parameters

wait_set

Pointer to the rcl_wait_set_t that was using the resulting guard condition.

sleep_for()

bool rclcpp::sleep_for

(

const std::chrono::nanoseconds &

nanoseconds

)

Use the global condition variable to block for the specified amount of time.

Parameters

[in]

nanoseconds

A std::chrono::duration representing how long to sleep for.

Returns

True if the condition variable did not timeout.