rclcpp
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C++ ROS Client Library API
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15 #ifndef RCLCPP__NODE_OPTIONS_HPP_
16 #define RCLCPP__NODE_OPTIONS_HPP_
22 #include "rcl/node_options.h"
90 rclcpp::Context::SharedPtr
134 template<
typename ParameterT>
319 const rcl_allocator_t &
343 rclcpp::Context::SharedPtr context_ {
350 bool use_global_arguments_ {
true};
352 bool enable_rosout_ {
true};
354 bool use_intra_process_comms_ {
false};
356 bool enable_topic_statistics_ {
false};
358 bool start_parameter_services_ {
true};
360 bool start_parameter_event_publisher_ {
true};
368 bool allow_undeclared_parameters_ {
false};
370 bool automatically_declare_parameters_from_overrides_ {
false};
372 rcl_allocator_t allocator_ {rcl_get_default_allocator()};
377 #endif // RCLCPP__NODE_OPTIONS_HPP_
Store the type and value of a parameter.
Definition: parameter_value.hpp:71
bool use_global_arguments() const
Return the use_global_arguments flag.
bool start_parameter_event_publisher() const
Return the start_parameter_event_publisher flag.
Non-templated part of PublisherOptionsWithAllocator<Allocator>.
Definition: publisher_options.hpp:36
rclcpp::Context::SharedPtr context() const
Return the context to be used by the node.
DefaultContext::SharedPtr get_global_default_context()
Definition: default_context.hpp:49
This header provides the get_node_base_interface() template function.
Definition: allocator_common.hpp:24
#define RCLCPP_PUBLIC
Definition: visibility_control.hpp:50
Encapsulation of Quality of Service settings.
Definition: qos.hpp:59
const rclcpp::PublisherOptionsBase & parameter_event_publisher_options() const
Return a reference to the parameter_event_publisher_options.
bool enable_topic_statistics() const
Return the enable_topic_statistics flag.
static QoSInitialization from_rmw(const rmw_qos_profile_t &rmw_qos)
Create a QoSInitialization from an existing rmw_qos_profile_t, using its history and depth.
bool allow_undeclared_parameters() const
Return the allow_undeclared_parameters flag.
NodeOptions & operator=(const NodeOptions &other)
Assignment operator.
bool start_parameter_services() const
Return the start_parameter_services flag.
size_t get_domain_id_from_env() const
Retrieve the ROS_DOMAIN_ID environment variable and populate options.
bool use_intra_process_comms() const
Return the use_intra_process_comms flag.
const std::vector< std::string > & arguments() const
Return a reference to the list of arguments for the node.
const rcl_allocator_t & allocator() const
Return the rcl_allocator_t to be used.
bool enable_rosout() const
Return the enable_rosout flag.
T emplace_back(T... args)
Encapsulation of options for node initialization.
Definition: node_options.hpp:34
bool automatically_declare_parameters_from_overrides() const
Return the automatically_declare_parameters_from_overrides flag.
NodeOptions(rcl_allocator_t allocator=rcl_get_default_allocator())
Create NodeOptions with default values, optionally specifying the allocator to use.
virtual ~NodeOptions()=default
Destructor.
const rclcpp::QoS & parameter_event_qos() const
Return a reference to the parameter_event_qos QoS.
const rcl_node_options_t * get_rcl_node_options() const
Return the rcl_node_options used by the node.
std::vector< rclcpp::Parameter > & parameter_overrides()
Return a reference to the list of parameter overrides.
NodeOptions & append_parameter_override(const std::string &name, const ParameterT &value)
Append a single parameter override, parameter idiom style.
Definition: node_options.hpp:136