rclcpp  master
C++ ROS Client Library API
Namespaces | Classes | Typedefs | Functions
rclcpp Namespace Reference

Namespaces

 allocator
 
 any_service_callback
 
 any_subscription_callback
 
 callback_group
 
 client
 
 context
 
 contexts
 
 event
 
 exceptions
 
 executor
 
 executors
 
 function_traits
 
 graph_listener
 
 intra_process_manager
 
 mapped_ring_buffer
 
 memory_strategies
 
 memory_strategy
 
 message_memory_strategy
 
 node
 
 node_interfaces
 
 parameter
 
 parameter_client
 
 parameter_service
 
 publisher
 
 rate
 
 service
 
 strategies
 
 subscription
 
 timer
 
 type_support
 
 utilities
 

Classes

struct  PublisherFactory
 Factory with functions used to create a MessageT specific PublisherT. More...
 
struct  ScopeExit
 
struct  SubscriptionFactory
 Factory with functions used to create a Subscription<MessageT>. More...
 
class  Time
 

Typedefs

using ContextSharedPtr = rclcpp::context::Context::SharedPtr
 

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::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::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::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::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...
 
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...
 

Typedef Documentation

◆ ContextSharedPtr

using rclcpp::ContextSharedPtr = typedef rclcpp::context::Context::SharedPtr

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::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_ptrShared pointer to the node to spin.

◆ spin_some() [2/2]

void rclcpp::spin_some ( rclcpp::node::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_ptrShared pointer to the node to spin.

◆ spin() [2/2]

void rclcpp::spin ( rclcpp::node::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::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
namethe topic or service name to be validated
node_namethe name of the node associated with the name
namespace_the namespace of the node associated with the name
is_serviceif true InvalidServiceNameError is thrown instead
Returns
expanded (and validated) topic name
Exceptions
InvalidTopicNameErrorif name is invalid and is_service is false
InvalidServiceNameErrorif name is invalid and is_service is true
std::bad_allocif memory cannot be allocated
RCLErrorif an unexpect error occurs

◆ 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>.