15 #ifndef RCLCPP__UTILITIES_HPP_ 16 #define RCLCPP__UTILITIES_HPP_ 38 std::ostringstream os;
57 init(
int argc,
char * argv[]);
112 sleep_for(
const std::chrono::nanoseconds & nanoseconds);
117 #endif // RCLCPP__UTILITIES_HPP_
bool ok()
Check rclcpp's status.
void init(int argc, char *argv[])
Initialize communications via the rmw implementation and set up a global signal handler.
Definition: allocator_common.hpp:24
Definition: parameter.hpp:235
std::string to_string(const rclcpp::parameter::ParameterVariant ¶m)
Return a json encoded version of the parameter intended for a list.
bool sleep_for(const std::chrono::nanoseconds &nanoseconds)
Use the global condition variable to block for the specified amount of time.
#define RCLCPP_PUBLIC
Definition: visibility_control.hpp:50
void shutdown()
Notify the signal handler and rmw that rclcpp is shutting down.
void release_sigint_guard_condition(rcl_wait_set_t *waitset)
Release the previously allocated guard condition that manages the signal handler. ...
void on_shutdown(std::function< void(void)> callback)
Register a function to be called when shutdown is called.
rcl_guard_condition_t * get_sigint_guard_condition(rcl_wait_set_t *waitset)
Get a handle to the rmw guard condition that manages the signal handler.