register_node_macro.hpp File Reference

#include "class_loader/class_loader.hpp"
#include "rclcpp_components/node_factory_template.hpp"

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Macros
#define	RCLCPP_COMPONENTS_REGISTER_NODE(NodeClass)
	Register a component that can be dynamically loaded at runtime. More...

Macro Definition Documentation

RCLCPP_COMPONENTS_REGISTER_NODE

#define RCLCPP_COMPONENTS_REGISTER_NODE

(

NodeClass

)

Value:

  CLASS_LOADER_REGISTER_CLASS( \
    rclcpp_components::NodeFactoryTemplate<NodeClass>, \
    rclcpp_components::NodeFactory)

Register a component that can be dynamically loaded at runtime.

The registration macro should appear once per component per library. The macro should appear in a single translation unit.

Valid arguments for NodeClass shall:

• Have a constructor that takes a single argument that is a rclcpp::NodeOptions instance.
• Have a method of of the signature: rclcpp::node_interfaces::NodeBaseInterface::SharedPtr get_node_base_interface

Note: NodeClass does not need to inherit from rclcpp::Node, but it is the easiest way.