rcl  master
C API providing common ROS client library functionality.
expand_topic_name.h
1 // Copyright 2017 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__EXPAND_TOPIC_NAME_H_
16 #define RCL__EXPAND_TOPIC_NAME_H_
17 
18 #ifdef __cplusplus
19 extern "C"
20 {
21 #endif
22 
24 #include "rcl/allocator.h"
25 #include "rcl/macros.h"
26 #include "rcl/types.h"
27 #include "rcl/visibility_control.h"
28 
30 
114 RCL_PUBLIC
115 RCL_WARN_UNUSED
116 rcl_ret_t
117 rcl_expand_topic_name(
118  const char * input_topic_name,
119  const char * node_name,
120  const char * node_namespace,
121  const rcutils_string_map_t * substitutions,
122  rcl_allocator_t allocator,
123  char ** output_topic_name);
124 
126 
135 RCL_PUBLIC
136 RCL_WARN_UNUSED
137 rcl_ret_t
138 rcl_get_default_topic_name_substitutions(rcutils_string_map_t * string_map);
139 
140 #ifdef __cplusplus
141 }
142 #endif
143 
144 #endif // RCL__EXPAND_TOPIC_NAME_H_
rcutils_string_map_t
rcutils_allocator_t
string_map.h