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_ptr

Shared 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_ptr

Shared 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

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

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>.