rclcpp_components  master
Package containing tools for dynamically loadable components
rclcpp_components: Package containing tools for dynamically loadable components.
  • ComponentManager: Node to manage components. It has the services to load, unload and list current components.
  • Node factory: The NodeFactory interface is used by the class loader to instantiate components.

Some useful abstractions and utilities:

Some useful internal abstractions and utilities:

  • Macros for controlling symbol visibility on the library
    • rclcpp_components/visibility_control.h

Package containing CMake tools for register components:

  • rclcpp_components_register_node Register an rclcpp component with the ament resource index and create an executable.
  • rclcpp_components_register_nodes Register an rclcpp component with the ament resource index. The passed library can contain multiple nodes each registered via macro.