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C API providing common ROS client library functionality.
node_options.h
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1 // Copyright 2019 Open Source Robotics Foundation, Inc.
2 //
3 // Licensed under the Apache License, Version 2.0 (the "License");
4 // you may not use this file except in compliance with the License.
5 // You may obtain a copy of the License at
6 //
7 // http://www.apache.org/licenses/LICENSE-2.0
8 //
9 // Unless required by applicable law or agreed to in writing, software
10 // distributed under the License is distributed on an "AS IS" BASIS,
11 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12 // See the License for the specific language governing permissions and
13 // limitations under the License.
14 
15 #ifndef RCL__NODE_OPTIONS_H_
16 #define RCL__NODE_OPTIONS_H_
17 
18 #ifdef __cplusplus
19 extern "C"
20 {
21 #endif
22 
23 #include "rcl/allocator.h"
24 #include "rcl/arguments.h"
25 
27 #define RCL_NODE_OPTIONS_DEFAULT_DOMAIN_ID SIZE_MAX
28 
30 typedef struct rcl_node_options_t
31 {
32  // bool anonymous_name;
33 
34  // rmw_qos_profile_t parameter_qos;
35 
37  // bool no_parameters;
38 
40 
50  size_t domain_id;
51 
54 
57 
61 
63 
74 
76 
97  const rcl_node_options_t * options,
98  rcl_node_options_t * options_out);
99 
101 
120 rcl_ret_t
122 
123 #ifdef __cplusplus
124 }
125 #endif
126 
127 #endif // RCL__NODE_OPTIONS_H_
rcl_ret_t rcl_node_options_fini(rcl_node_options_t *options)
Finalize the given node_options.
rmw_ret_t rcl_ret_t
Definition: types.h:20
Hold output of parsing command line arguments.
Definition: arguments.h:32
size_t domain_id
If true, no parameter infrastructure will be setup.
Definition: node_options.h:50
rcl_arguments_t arguments
Command line arguments that apply only to this node.
Definition: node_options.h:59
rcl_ret_t rcl_node_options_copy(const rcl_node_options_t *options, rcl_node_options_t *options_out)
Copy one options structure into another.
bool use_global_arguments
If false then only use arguments in this struct, otherwise use global arguments also.
Definition: node_options.h:56
#define RCL_WARN_UNUSED
Ignored return values of functions with this macro will emit a warning.
Definition: macros.h:25
#define RCL_PUBLIC
Definition: visibility_control.h:48
rcl_allocator_t allocator
Custom allocator used for internal allocations.
Definition: node_options.h:53
rcl_node_options_t rcl_node_get_default_options(void)
Return the default node options in a rcl_node_options_t.
Structure which encapsulates the options for creating a rcl_node_t.
Definition: node_options.h:30
struct rcl_node_options_t rcl_node_options_t
Structure which encapsulates the options for creating a rcl_node_t.