rcl_node_options_t Struct Reference

Structure which encapsulates the options for creating a rcl_node_t. More...

#include <node.h>

Public Attributes
size_t	domain_id
	If true, no parameter infrastructure will be setup. More...
rcl_allocator_t	allocator
	Custom allocator used for internal allocations. More...
bool	use_global_arguments
	If false then only use arguments in this struct, otherwise use global arguments also. More...
rcl_arguments_t	arguments
	Command line arguments that apply only to this node. More...

Detailed Description

Structure which encapsulates the options for creating a rcl_node_t.

Member Data Documentation

domain_id

size_t rcl_node_options_t::domain_id

If true, no parameter infrastructure will be setup.

If set, then this value overrides the ROS_DOMAIN_ID environment variable. It defaults to RCL_NODE_OPTIONS_DEFAULT_DOMAIN_ID, which will cause the node to use the ROS domain ID set in the ROS_DOMAIN_ID environment variable, or on some systems 0 if the environment variable is not set.

Todo:

TODO(wjwwood): Should we put a limit on the ROS_DOMAIN_ID value, that way we can have a safe value for the default RCL_NODE_OPTIONS_DEFAULT_DOMAIN_ID? (currently max size_t)

allocator

rcl_allocator_t rcl_node_options_t::allocator

Custom allocator used for internal allocations.

use_global_arguments

bool rcl_node_options_t::use_global_arguments

If false then only use arguments in this struct, otherwise use global arguments also.

arguments

rcl_arguments_t rcl_node_options_t::arguments

Command line arguments that apply only to this node.

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The documentation for this struct was generated from the following file:

• include/rcl/node.h