This header provides the get_node_base_interface() template function. More...

Namespaces
	allocator

	contexts

	detail

	exceptions

	executors

	experimental

	function_traits

	graph_listener

	memory_strategies

	memory_strategy

	message_memory_strategy

	node_interfaces

	serialization_traits

	strategies

	subscription_traits

	topic_statistics

	type_support

	wait_set_policies

Classes
struct	AnyExecutable

class	AnyServiceCallback

class	AnySubscriptionCallback

class	AsyncParametersClient

class	CallbackGroup

class	Client

class	ClientBase

class	Clock

class	ClockQoS

class	Context
	Context which encapsulates shared state between nodes and other similar entities. More...

class	ContextAlreadyInitialized
	Thrown when init is called on an already initialized context. More...

class	Duration

class	Event

class	Executor
	Coordinate the order and timing of available communication tasks. More...

struct	ExecutorOptions
	Options to be passed to the executor constructor. More...

class	GenericPublisher
	Publisher for serialized messages whose type is not known at compile time. More...

class	GenericRate

class	GenericSubscription
	Subscription for serialized messages whose type is not known at compile time. More...

class	GenericTimer
	Generic timer. Periodically executes a user-specified callback. More...

class	GuardCondition
	A condition that can be waited on in a single wait set and asynchronously triggered. More...

class	InitOptions
	Encapsulation of options for initializing rclcpp. More...

class	JumpHandler

struct	KeepAll
	Use to initialize the QoS with the keep_all history setting. More...

struct	KeepLast
	Use to initialize the QoS with the keep_last history setting and the given depth. More...

class	LoanedMessage

class	Logger

class	MessageInfo
	Additional meta data about messages taken from subscriptions. More...

class	NetworkFlowEndpoint

class	Node
	Node is the single point of entry for creating publishers and subscribers. More...

class	NodeOptions
	Encapsulation of options for node initialization. More...

class	OnShutdownCallbackHandle

class	Parameter
	Structure to store an arbitrary parameter with templated get/set methods. More...

struct	ParameterCallbackHandle

struct	ParameterEventCallbackHandle

class	ParameterEventHandler
	A class used to "handle" (monitor and respond to) changes to parameters. More...

class	ParameterEventsFilter

class	ParameterEventsQoS

class	ParameterService

class	ParametersQoS

class	ParameterTypeException
	Indicate the parameter type does not match the expected type. More...

class	ParameterValue
	Store the type and value of a parameter. More...

class	Publisher
	A publisher publishes messages of any type to a topic. More...

class	PublisherBase

struct	PublisherEventCallbacks
	Contains callbacks for various types of events a Publisher can receive from the middleware. More...

struct	PublisherFactory
	Factory with functions used to create a MessageT specific PublisherT. More...

struct	PublisherOptionsBase
	Non-templated part of PublisherOptionsWithAllocator<Allocator>. More...

struct	PublisherOptionsWithAllocator
	Structure containing optional configuration for Publishers. More...

class	QoS
	Encapsulation of Quality of Service settings. More...

struct	QoSCheckCompatibleResult
	Result type for checking QoS compatibility. More...

class	QOSEventHandler

class	QOSEventHandlerBase

struct	QoSInitialization
	QoS initialization values, cannot be created directly, use KeepAll or KeepLast instead. More...

class	QosOverridingOptions
	Options that are passed in subscription/publisher constructor to specify QoSConfigurability. More...

class	RateBase

class	RosoutQoS

struct	ScopeExit

class	SensorDataQoS

class	Serialization
	Default implementation to (de)serialize a message by using rmw_(de)serialize. More...

class	SerializationBase
	Interface to (de)serialize a message. More...

class	SerializedMessage
	Object oriented version of rcl_serialized_message_t with destructor to avoid memory leaks. More...

class	Service

class	ServiceBase

class	ServicesQoS

class	Subscription
	Subscription implementation, templated on the type of message this subscription receives. More...

class	SubscriptionBase

struct	SubscriptionEventCallbacks
	Contains callbacks for non-message events that a Subscription can receive from the middleware. More...

struct	SubscriptionFactory
	Factory containing a function used to create a Subscription<MessageT>. More...

struct	SubscriptionOptionsBase
	Non-template base class for subscription options. More...

struct	SubscriptionOptionsWithAllocator
	Structure containing optional configuration for Subscriptions. More...

class	SubscriptionWaitSetMask
	Options used to determine what parts of a subscription get added to or removed from a wait set. More...

class	SyncParametersClient

class	SystemDefaultsQoS

class	Time

class	TimerBase

class	TimeSource

class	TopicEndpointInfo

class	UnsupportedEventTypeException

class	Waitable

class	WaitResult
	Interface for introspecting a wait set after waiting on it. More...

class	WaitSetTemplate
	Encapsulates sets of waitable items which can be waited on as a group. More...

class	WallTimer

Typedefs
typedef std::map< rclcpp::CallbackGroup::WeakPtr, rclcpp::node_interfaces::NodeBaseInterface::WeakPtr, std::owner_less< rclcpp::CallbackGroup::WeakPtr > >	WeakCallbackGroupsToNodesMap

using	ParameterMap = std::unordered_map< std::string, std::vector< Parameter > >
	A map of fully qualified node names to a list of parameters. More...

using	PublisherOptions = PublisherOptionsWithAllocator< std::allocator< void > >

using	QOSDeadlineRequestedInfo = rmw_requested_deadline_missed_status_t

using	QOSDeadlineOfferedInfo = rmw_offered_deadline_missed_status_t

using	QOSLivelinessChangedInfo = rmw_liveliness_changed_status_t

using	QOSLivelinessLostInfo = rmw_liveliness_lost_status_t

using	QOSMessageLostInfo = rmw_message_lost_status_t

using	QOSOfferedIncompatibleQoSInfo = rmw_offered_qos_incompatible_event_status_t

using	QOSRequestedIncompatibleQoSInfo = rmw_requested_qos_incompatible_event_status_t

using	QOSDeadlineRequestedCallbackType = std::function< void(QOSDeadlineRequestedInfo &)>

using	QOSDeadlineOfferedCallbackType = std::function< void(QOSDeadlineOfferedInfo &)>

using	QOSLivelinessChangedCallbackType = std::function< void(QOSLivelinessChangedInfo &)>

using	QOSLivelinessLostCallbackType = std::function< void(QOSLivelinessLostInfo &)>

using	QOSMessageLostCallbackType = std::function< void(QOSMessageLostInfo &)>

using	QOSOfferedIncompatibleQoSCallbackType = std::function< void(QOSOfferedIncompatibleQoSInfo &)>

using	QOSRequestedIncompatibleQoSCallbackType = std::function< void(QOSRequestedIncompatibleQoSInfo &)>

using	QosCallbackResult = rcl_interfaces::msg::SetParametersResult

using	QosCallback = std::function< QosCallbackResult(const rclcpp::QoS &)>

using	Rate = GenericRate< std::chrono::system_clock >

using	WallRate = GenericRate< std::chrono::steady_clock >

using	SubscriptionOptions = SubscriptionOptionsWithAllocator< std::allocator< void > >

using	VoidCallbackType = std::function< void()>

using	TimerCallbackType = std::function< void(TimerBase &)>

using	WaitSet = rclcpp::WaitSetTemplate< rclcpp::wait_set_policies::SequentialSynchronization, rclcpp::wait_set_policies::DynamicStorage >
	Most common user configuration of a WaitSet, which is dynamic but not thread-safe. More...

template<std::size_t NumberOfSubscriptions, std::size_t NumberOfGuardCondtions, std::size_t NumberOfTimers, std::size_t NumberOfClients, std::size_t NumberOfServices, std::size_t NumberOfWaitables>
using	StaticWaitSet = rclcpp::WaitSetTemplate< rclcpp::wait_set_policies::SequentialSynchronization, rclcpp::wait_set_policies::StaticStorage< NumberOfSubscriptions, NumberOfGuardCondtions, NumberOfTimers, NumberOfClients, NumberOfServices, NumberOfWaitables > >
	WaitSet configuration which does not allow changes after construction. More...

using	ThreadSafeWaitSet = rclcpp::WaitSetTemplate< rclcpp::wait_set_policies::ThreadSafeSynchronization, rclcpp::wait_set_policies::DynamicStorage >
	Like WaitSet, this configuration is dynamic, but is also thread-safe. More...

Enumerations
enum	CallbackGroupType { CallbackGroupType::MutuallyExclusive, CallbackGroupType::Reentrant }

enum	FutureReturnCode { FutureReturnCode::SUCCESS, FutureReturnCode::INTERRUPTED, FutureReturnCode::TIMEOUT }
	Return codes to be used with spin_until_future_complete. More...

enum	IntraProcessBufferType { IntraProcessBufferType::SharedPtr, IntraProcessBufferType::UniquePtr, IntraProcessBufferType::CallbackDefault }

enum	IntraProcessSetting { IntraProcessSetting::Enable, IntraProcessSetting::Disable, IntraProcessSetting::NodeDefault }
	Used as argument in create_publisher and create_subscriber. More...

enum	EndpointType { EndpointType::Invalid = RMW_ENDPOINT_INVALID, EndpointType::Publisher = RMW_ENDPOINT_PUBLISHER, EndpointType::Subscription = RMW_ENDPOINT_SUBSCRIPTION }

enum	ParameterType : uint8_t { PARAMETER_NOT_SET = rcl_interfaces::msg::ParameterType::PARAMETER_NOT_SET, PARAMETER_BOOL = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL, PARAMETER_INTEGER = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER, PARAMETER_DOUBLE = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE, PARAMETER_STRING = rcl_interfaces::msg::ParameterType::PARAMETER_STRING, PARAMETER_BYTE_ARRAY = rcl_interfaces::msg::ParameterType::PARAMETER_BYTE_ARRAY, PARAMETER_BOOL_ARRAY = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL_ARRAY, PARAMETER_INTEGER_ARRAY = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY, PARAMETER_DOUBLE_ARRAY = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY, PARAMETER_STRING_ARRAY = rcl_interfaces::msg::ParameterType::PARAMETER_STRING_ARRAY }

enum	HistoryPolicy { HistoryPolicy::KeepLast = RMW_QOS_POLICY_HISTORY_KEEP_LAST, HistoryPolicy::KeepAll = RMW_QOS_POLICY_HISTORY_KEEP_ALL, HistoryPolicy::SystemDefault = RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT, HistoryPolicy::Unknown = RMW_QOS_POLICY_HISTORY_UNKNOWN }

enum	ReliabilityPolicy { ReliabilityPolicy::BestEffort = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT, ReliabilityPolicy::Reliable = RMW_QOS_POLICY_RELIABILITY_RELIABLE, ReliabilityPolicy::SystemDefault = RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT, ReliabilityPolicy::Unknown = RMW_QOS_POLICY_RELIABILITY_UNKNOWN }

enum	DurabilityPolicy { DurabilityPolicy::Volatile = RMW_QOS_POLICY_DURABILITY_VOLATILE, DurabilityPolicy::TransientLocal = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL, DurabilityPolicy::SystemDefault = RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT, DurabilityPolicy::Unknown = RMW_QOS_POLICY_DURABILITY_UNKNOWN }

enum	LivelinessPolicy { LivelinessPolicy::Automatic = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC, LivelinessPolicy::ManualByTopic = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC, LivelinessPolicy::SystemDefault = RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT, LivelinessPolicy::Unknown = RMW_QOS_POLICY_LIVELINESS_UNKNOWN }

enum	QoSCompatibility { QoSCompatibility::Ok = RMW_QOS_COMPATIBILITY_OK, QoSCompatibility::Warning = RMW_QOS_COMPATIBILITY_WARNING, QoSCompatibility::Error = RMW_QOS_COMPATIBILITY_ERROR }

enum	TopicStatisticsState { TopicStatisticsState::Enable, TopicStatisticsState::Disable, TopicStatisticsState::NodeDefault }

enum	WaitResultKind { Ready, Timeout, Empty }
	Represents the various kinds of results from waiting on a wait set. More...

Functions
std::vector< Context::SharedPtr >	get_contexts ()
	Return a copy of the list of context shared pointers. More...

template<typename ServiceT >
rclcpp::Client< ServiceT >::SharedPtr	create_client (std::shared_ptr< node_interfaces::NodeBaseInterface > node_base, std::shared_ptr< node_interfaces::NodeGraphInterface > node_graph, std::shared_ptr< node_interfaces::NodeServicesInterface > node_services, const std::string &service_name, const rmw_qos_profile_t &qos_profile, rclcpp::CallbackGroup::SharedPtr group)

template<typename AllocatorT = std::allocator<void>>
std::shared_ptr< GenericPublisher >	create_generic_publisher (rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr topics_interface, const std::string &topic_name, const std::string &topic_type, const rclcpp::QoS &qos, const rclcpp::PublisherOptionsWithAllocator< AllocatorT > &options=(rclcpp::PublisherOptionsWithAllocator< AllocatorT >()))
	Create and return a GenericPublisher. More...

template<typename AllocatorT = std::allocator<void>>
std::shared_ptr< GenericSubscription >	create_generic_subscription (rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr topics_interface, const std::string &topic_name, const std::string &topic_type, const rclcpp::QoS &qos, std::function< void(std::shared_ptr< rclcpp::SerializedMessage >)> callback, const rclcpp::SubscriptionOptionsWithAllocator< AllocatorT > &options=(rclcpp::SubscriptionOptionsWithAllocator< AllocatorT >()))
	Create and return a GenericSubscription. More...

template<typename MessageT , typename AllocatorT = std::allocator<void>, typename PublisherT = rclcpp::Publisher<MessageT, AllocatorT>, typename NodeT >
std::shared_ptr< PublisherT >	create_publisher (NodeT &node, const std::string &topic_name, const rclcpp::QoS &qos, const rclcpp::PublisherOptionsWithAllocator< AllocatorT > &options=(rclcpp::PublisherOptionsWithAllocator< AllocatorT >()))
	Create and return a publisher of the given MessageT type. More...

template<typename MessageT , typename AllocatorT = std::allocator<void>, typename PublisherT = rclcpp::Publisher<MessageT, AllocatorT>>
std::shared_ptr< PublisherT >	create_publisher (rclcpp::node_interfaces::NodeParametersInterface::SharedPtr &node_parameters, rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr &node_topics, const std::string &topic_name, const rclcpp::QoS &qos, const rclcpp::PublisherOptionsWithAllocator< AllocatorT > &options=(rclcpp::PublisherOptionsWithAllocator< AllocatorT >()))
	Create and return a publisher of the given MessageT type. More...

template<typename ServiceT , typename CallbackT >
rclcpp::Service< ServiceT >::SharedPtr	create_service (std::shared_ptr< node_interfaces::NodeBaseInterface > node_base, std::shared_ptr< node_interfaces::NodeServicesInterface > node_services, const std::string &service_name, CallbackT &&callback, const rmw_qos_profile_t &qos_profile, rclcpp::CallbackGroup::SharedPtr group)

template<typename MessageT , typename CallbackT , typename AllocatorT = std::allocator<void>, typename CallbackMessageT = typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>, typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy< CallbackMessageT, AllocatorT >, typename NodeT >
std::shared_ptr< SubscriptionT >	create_subscription (NodeT &node, const std::string &topic_name, const rclcpp::QoS &qos, CallbackT &&callback, const rclcpp::SubscriptionOptionsWithAllocator< AllocatorT > &options=(rclcpp::SubscriptionOptionsWithAllocator< AllocatorT >()), typename MessageMemoryStrategyT::SharedPtr msg_mem_strat=(MessageMemoryStrategyT::create_default()))
	Create and return a subscription of the given MessageT type. More...

template<typename MessageT , typename CallbackT , typename AllocatorT = std::allocator<void>, typename CallbackMessageT = typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>, typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy< CallbackMessageT, AllocatorT >>
std::shared_ptr< SubscriptionT >	create_subscription (rclcpp::node_interfaces::NodeParametersInterface::SharedPtr &node_parameters, rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr &node_topics, const std::string &topic_name, const rclcpp::QoS &qos, CallbackT &&callback, const rclcpp::SubscriptionOptionsWithAllocator< AllocatorT > &options=(rclcpp::SubscriptionOptionsWithAllocator< AllocatorT >()), typename MessageMemoryStrategyT::SharedPtr msg_mem_strat=(MessageMemoryStrategyT::create_default()))
	Create and return a subscription of the given MessageT type. More...

template<typename CallbackT >
rclcpp::TimerBase::SharedPtr	create_timer (std::shared_ptr< node_interfaces::NodeBaseInterface > node_base, std::shared_ptr< node_interfaces::NodeTimersInterface > node_timers, rclcpp::Clock::SharedPtr clock, rclcpp::Duration period, CallbackT &&callback, rclcpp::CallbackGroup::SharedPtr group=nullptr)

template<typename NodeT , typename CallbackT >
rclcpp::TimerBase::SharedPtr	create_timer (NodeT node, rclcpp::Clock::SharedPtr clock, rclcpp::Duration period, CallbackT &&callback, rclcpp::CallbackGroup::SharedPtr group=nullptr)
	Create a timer with a given clock. More...

template<typename DurationRepT , typename DurationT , typename CallbackT >
rclcpp::WallTimer< CallbackT >::SharedPtr	create_wall_timer (std::chrono::duration< DurationRepT, DurationT > period, CallbackT callback, rclcpp::CallbackGroup::SharedPtr group, node_interfaces::NodeBaseInterface node_base, node_interfaces::NodeTimersInterface node_timers)
	Convenience method to create a timer with node resources. More...

void	spin_some (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)
	Create a default single-threaded executor and execute any immediately available work. More...

void	spin_some (rclcpp::Node::SharedPtr node_ptr)

void	spin (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)
	Create a default single-threaded executor and spin the specified node. More...

void	spin (rclcpp::Node::SharedPtr node_ptr)

template<typename FutureT , typename TimeRepT = int64_t, typename TimeT = std::milli>
rclcpp::FutureReturnCode	spin_until_future_complete (rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, const FutureT &future, std::chrono::duration< TimeRepT, TimeT > timeout=std::chrono::duration< TimeRepT, TimeT >(-1))

template<typename NodeT = rclcpp::Node, typename FutureT , typename TimeRepT = int64_t, typename TimeT = std::milli>
rclcpp::FutureReturnCode	spin_until_future_complete (std::shared_ptr< NodeT > node_ptr, const FutureT &future, std::chrono::duration< TimeRepT, TimeT > timeout=std::chrono::duration< TimeRepT, TimeT >(-1))

std::string	expand_topic_or_service_name (const std::string &name, const std::string &node_name, const std::string &namespace_, bool is_service=false)
	Expand a topic or service name and throw if it is not valid. More...

std::ostream &	operator<< (std::ostream &os, const FutureReturnCode &future_return_code)
	Stream operator for FutureReturnCode. More...

std::string	to_string (const FutureReturnCode &future_return_code)
	String conversion function for FutureReturnCode. More...

Logger	get_logger (const std::string &name)
	Return a named logger. More...

Logger	get_node_logger (const rcl_node_t *node)
	Return a named logger using an rcl_node_t. More...

rcpputils::fs::path	get_logging_directory ()
	Get the current logging directory. More...

bool	operator== (const NetworkFlowEndpoint &left, const NetworkFlowEndpoint &right)
	Check if two NetworkFlowEndpoint instances are equal. More...

bool	operator!= (const NetworkFlowEndpoint &left, const NetworkFlowEndpoint &right)
	Check if two NetworkFlowEndpoint instances are not equal. More...

std::ostream &	operator<< (std::ostream &os, const NetworkFlowEndpoint &network_flow_endpoint)
	Streaming helper for NetworkFlowEndpoint. More...

RCLCPP_LOCAL std::string	extend_name_with_sub_namespace (const std::string &name, const std::string &sub_namespace)

std::string	_to_json_dict_entry (const Parameter &param)
	Return a json encoded version of the parameter intended for a dict. More...

std::ostream &	operator<< (std::ostream &os, const rclcpp::Parameter &pv)

std::ostream &	operator<< (std::ostream &os, const std::vector< Parameter > &parameters)

ParameterMap	parameter_map_from (const rcl_params_t *const c_params)

ParameterValue	parameter_value_from (const rcl_variant_t *const c_value)

ParameterMap	parameter_map_from_yaml_file (const std::string &yaml_filename)

std::string	to_string (ParameterType type)
	Return the name of a parameter type. More...

std::ostream &	operator<< (std::ostream &os, ParameterType type)

std::string	to_string (const ParameterValue &type)
	Return the value of a parameter as a string. More...

template<typename MessageT , typename AllocatorT , typename PublisherT >
PublisherFactory	create_publisher_factory (const rclcpp::PublisherOptionsWithAllocator< AllocatorT > &options)
	Return a PublisherFactory with functions setup for creating a PublisherT<MessageT, AllocatorT>. More...

std::string	qos_policy_name_from_kind (rmw_qos_policy_kind_t policy_kind)

bool	operator== (const QoS &left, const QoS &right)
	Check if two QoS profiles are exactly equal in all policy values. More...

bool	operator!= (const QoS &left, const QoS &right)

QoSCheckCompatibleResult	qos_check_compatible (const QoS &publisher_qos, const QoS &subscription_qos)
	Check if two QoS profiles are compatible. More...

const char *	qos_policy_kind_to_cstr (const QosPolicyKind &qpk)

std::ostream &	operator<< (std::ostream &os, const QosPolicyKind &qpk)

template<typename Callable >
ScopeExit< Callable >	make_scope_exit (Callable callable)

template<typename MessageT , typename CallbackT , typename AllocatorT , typename CallbackMessageT = typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>, typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy< CallbackMessageT, AllocatorT >>
SubscriptionFactory	create_subscription_factory (CallbackT &&callback, const rclcpp::SubscriptionOptionsWithAllocator< AllocatorT > &options, typename MessageMemoryStrategyT::SharedPtr msg_mem_strat, std::shared_ptr< rclcpp::topic_statistics::SubscriptionTopicStatistics< CallbackMessageT >> subscription_topic_stats=nullptr)
	Return a SubscriptionFactory setup to create a SubscriptionT<MessageT, AllocatorT>. More...

Time	operator+ (const rclcpp::Duration &lhs, const rclcpp::Time &rhs)

std::shared_ptr< rcpputils::SharedLibrary >	get_typesupport_library (const std::string &type, const std::string &typesupport_identifier)
	Load the type support library for the given type. More...

const rosidl_message_type_support_t *	get_typesupport_handle (const std::string &type, const std::string &typesupport_identifier, rcpputils::SharedLibrary &library)
	Extract the type support handle from the library. More...

void	init (int argc, char const *const argv[], const InitOptions &init_options=InitOptions())
	Initialize communications via the rmw implementation and set up a global signal handler. More...

bool	install_signal_handlers ()
	Install the global signal handler for rclcpp. More...

bool	signal_handlers_installed ()
	Return true if the signal handlers are installed, otherwise false. More...

bool	uninstall_signal_handlers ()
	Uninstall the global signal handler for rclcpp. More...

std::vector< std::string >	init_and_remove_ros_arguments (int argc, char const *const argv[], const InitOptions &init_options=InitOptions())
	Initialize communications via the rmw implementation and set up a global signal handler. More...

std::vector< std::string >	remove_ros_arguments (int argc, char const *const argv[])
	Remove ROS-specific arguments from argument vector. More...

bool	ok (rclcpp::Context::SharedPtr context=nullptr)
	Check rclcpp's status. More...

bool	shutdown (rclcpp::Context::SharedPtr context=nullptr, const std::string &reason="user called rclcpp::shutdown()")
	Shutdown rclcpp context, invalidating it for derived entities. More...

void	on_shutdown (std::function< void()> callback, rclcpp::Context::SharedPtr context=nullptr)
	Register a function to be called when shutdown is called on the context. More...

bool	sleep_for (const std::chrono::nanoseconds &nanoseconds, rclcpp::Context::SharedPtr context=nullptr)
	Use the global condition variable to block for the specified amount of time. More...

template<typename T >
bool	add_will_overflow (const T x, const T y)
	Safely check if addition will overflow. More...

template<typename T >
bool	add_will_underflow (const T x, const T y)
	Safely check if addition will underflow. More...

template<typename T >
bool	sub_will_overflow (const T x, const T y)
	Safely check if subtraction will overflow. More...

template<typename T >
bool	sub_will_underflow (const T x, const T y)
	Safely check if subtraction will underflow. More...

const char *	get_c_string (const char *string_in)
	Return the given string. More...

const char *	get_c_string (const std::string &string_in)
	Return the C string from the given std::string. More...

Detailed Description

This header provides the get_node_base_interface() template function.

This header provides the get_node_waitables_interface() template function.

This header provides the get_node_topics_interface() template function.

This header provides the get_node_timers_interface() template function.

This header provides the get_node_time_source_interface() template function.

This header provides the get_node_services_interface() template function.

This header provides the get_node_parameters_interface() template function.

This header provides the get_node_logging_interface() template function.

This header provides the get_node_graph_interface() template function.

This header provides the get_node_clock_interface() template function.

This function is useful for getting the NodeBaseInterface pointer from various kinds of Node-like classes.

It's able to get a std::shared_ptr to a NodeBaseInterface so long as the class has a method called get_node_base_interface() which returns one.

This function is useful for getting the NodeClockInterface pointer from various kinds of Node-like classes.

It's able to get a std::shared_ptr to a NodeClockInterface so long as the class has a method called get_node_clock_interface() which returns one.

This function is useful for getting the NodeGraphInterface pointer from various kinds of Node-like classes.

It's able to get a std::shared_ptr to a NodeGraphInterface so long as the class has a method called get_node_graph_interface() which returns one.

This function is useful for getting the NodeLoggingInterface pointer from various kinds of Node-like classes.

It's able to get a std::shared_ptr to a NodeLoggingInterface so long as the class has a method called get_node_logging_interface() which returns one.

This function is useful for getting the NodeParametersInterface pointer from various kinds of Node-like classes.

It's able to get a std::shared_ptr to a NodeParametersInterface so long as the class has a method called get_node_parameters_interface() which returns one.

This function is useful for getting the NodeServicesInterface pointer from various kinds of Node-like classes.

It's able to get a std::shared_ptr to a NodeServicesInterface so long as the class has a method called get_node_services_interface() which returns one.

This function is useful for getting the NodeTimeSourceInterface pointer from various kinds of Node-like classes.

It's able to get a std::shared_ptr to a NodeTimeSourceInterface so long as the class has a method called get_node_time_source_interface() which returns one.

This function is useful for getting the NodeTimersInterface pointer from various kinds of Node-like classes.

It's able to get a std::shared_ptr to a NodeTimersInterface so long as the class has a method called get_node_timers_interface() which returns one.

This function is useful for getting the NodeTopicsInterface pointer from various kinds of Node-like classes.

It's able to get a std::shared_ptr to a NodeTopicsInterface so long as the class has a method called get_node_topics_interface() which returns one.

This function is useful for getting the NodeWaitablesInterface pointer from various kinds of Node-like classes.

It's able to get a std::shared_ptr to a NodeWaitablesInterface so long as the class has a method called get_node_waitables_interface() which returns one.

Typedef Documentation

◆ WeakCallbackGroupsToNodesMap

typedef std::map<rclcpp::CallbackGroup::WeakPtr, rclcpp::node_interfaces::NodeBaseInterface::WeakPtr, std::owner_less<rclcpp::CallbackGroup::WeakPtr> > rclcpp::WeakCallbackGroupsToNodesMap

◆ ParameterMap

using rclcpp::ParameterMap = typedef std::unordered_map<std::string, std::vector<Parameter> >

A map of fully qualified node names to a list of parameters.

◆ PublisherOptions

using rclcpp::PublisherOptions = typedef PublisherOptionsWithAllocator<std::allocator<void> >

◆ QOSDeadlineRequestedInfo

using rclcpp::QOSDeadlineRequestedInfo = typedef rmw_requested_deadline_missed_status_t

◆ QOSDeadlineOfferedInfo

using rclcpp::QOSDeadlineOfferedInfo = typedef rmw_offered_deadline_missed_status_t

◆ QOSLivelinessChangedInfo

using rclcpp::QOSLivelinessChangedInfo = typedef rmw_liveliness_changed_status_t

◆ QOSLivelinessLostInfo

using rclcpp::QOSLivelinessLostInfo = typedef rmw_liveliness_lost_status_t

◆ QOSMessageLostInfo

using rclcpp::QOSMessageLostInfo = typedef rmw_message_lost_status_t

◆ QOSOfferedIncompatibleQoSInfo

using rclcpp::QOSOfferedIncompatibleQoSInfo = typedef rmw_offered_qos_incompatible_event_status_t

◆ QOSRequestedIncompatibleQoSInfo

using rclcpp::QOSRequestedIncompatibleQoSInfo = typedef rmw_requested_qos_incompatible_event_status_t

◆ QOSDeadlineRequestedCallbackType

using rclcpp::QOSDeadlineRequestedCallbackType = typedef std::function<void (QOSDeadlineRequestedInfo &)>

◆ QOSDeadlineOfferedCallbackType

using rclcpp::QOSDeadlineOfferedCallbackType = typedef std::function<void (QOSDeadlineOfferedInfo &)>

◆ QOSLivelinessChangedCallbackType

using rclcpp::QOSLivelinessChangedCallbackType = typedef std::function<void (QOSLivelinessChangedInfo &)>

◆ QOSLivelinessLostCallbackType

using rclcpp::QOSLivelinessLostCallbackType = typedef std::function<void (QOSLivelinessLostInfo &)>

◆ QOSMessageLostCallbackType

using rclcpp::QOSMessageLostCallbackType = typedef std::function<void (QOSMessageLostInfo &)>

◆ QOSOfferedIncompatibleQoSCallbackType

using rclcpp::QOSOfferedIncompatibleQoSCallbackType = typedef std::function<void (QOSOfferedIncompatibleQoSInfo &)>

◆ QOSRequestedIncompatibleQoSCallbackType

using rclcpp::QOSRequestedIncompatibleQoSCallbackType = typedef std::function<void (QOSRequestedIncompatibleQoSInfo &)>

◆ QosCallbackResult

using rclcpp::QosCallbackResult = typedef rcl_interfaces::msg::SetParametersResult

◆ QosCallback

using rclcpp::QosCallback = typedef std::function<QosCallbackResult(const rclcpp::QoS &)>

◆ Rate

using rclcpp::Rate = typedef GenericRate<std::chrono::system_clock>

◆ WallRate

using rclcpp::WallRate = typedef GenericRate<std::chrono::steady_clock>

◆ SubscriptionOptions

using rclcpp::SubscriptionOptions = typedef SubscriptionOptionsWithAllocator<std::allocator<void> >

◆ VoidCallbackType

using rclcpp::VoidCallbackType = typedef std::function<void ()>

◆ TimerCallbackType

using rclcpp::TimerCallbackType = typedef std::function<void (TimerBase &)>

◆ WaitSet

using rclcpp::WaitSet = typedef rclcpp::WaitSetTemplate< rclcpp::wait_set_policies::SequentialSynchronization, rclcpp::wait_set_policies::DynamicStorage >

Most common user configuration of a WaitSet, which is dynamic but not thread-safe.

This wait set allows you to add and remove items dynamically, and it will automatically remove items that are let out of scope each time wait() or prune_destroyed_entities() is called.

It will not, however, provide thread-safety for adding and removing entities while waiting.

See also: rclcpp::WaitSetTemplate for API documentation

◆ StaticWaitSet

template<std::size_t NumberOfSubscriptions, std::size_t NumberOfGuardCondtions, std::size_t NumberOfTimers, std::size_t NumberOfClients, std::size_t NumberOfServices, std::size_t NumberOfWaitables>

using rclcpp::StaticWaitSet = typedef rclcpp::WaitSetTemplate< rclcpp::wait_set_policies::SequentialSynchronization, rclcpp::wait_set_policies::StaticStorage< NumberOfSubscriptions, NumberOfGuardCondtions, NumberOfTimers, NumberOfClients, NumberOfServices, NumberOfWaitables > >

WaitSet configuration which does not allow changes after construction.

This wait set requires that you specify all entities at construction, and prevents you from calling the typical add and remove functions. It also requires that you specify how many of each item there will be as a template argument.

It will share ownership of the entities until destroyed, therefore it will prevent the destruction of entities so long as the wait set exists, even if the user lets their copy of the shared pointer to the entity go out of scope.

Since the wait set cannot be mutated, it does not need to be thread-safe.

See also: rclcpp::WaitSetTemplate for API documentation

◆ ThreadSafeWaitSet

using rclcpp::ThreadSafeWaitSet = typedef rclcpp::WaitSetTemplate< rclcpp::wait_set_policies::ThreadSafeSynchronization, rclcpp::wait_set_policies::DynamicStorage >

Like WaitSet, this configuration is dynamic, but is also thread-safe.

This wait set allows you to add and remove items dynamically, and it will automatically remove items that are let out of scope each time wait() or prune_destroyed_entities() is called.

It will also ensure that adding and removing items explicitly from the wait set is done in a thread-safe way, protecting against concurrent add and deletes, as well as add and deletes during a wait(). This thread-safety comes at some overhead and the use of thread synchronization primitives.

See also: rclcpp::WaitSetTemplate for API documentation

Enumeration Type Documentation

◆ CallbackGroupType

enum rclcpp::CallbackGroupType

strong

Enumerator
MutuallyExclusive
Reentrant

◆ FutureReturnCode

enum rclcpp::FutureReturnCode

strong

Return codes to be used with spin_until_future_complete.

SUCCESS: The future is complete and can be accessed with "get" without blocking. This does not indicate that the operation succeeded; "get" may still throw an exception. INTERRUPTED: The future is not complete, spinning was interrupted by Ctrl-C or another error. TIMEOUT: Spinning timed out.

Enumerator
SUCCESS
INTERRUPTED
TIMEOUT

◆ IntraProcessBufferType

enum rclcpp::IntraProcessBufferType

strong

Used as argument in create_publisher and create_subscriber when intra-process communication is enabled

Enumerator
SharedPtr	Set the data type used in the intra-process buffer as std::shared_ptr<MessageT>
UniquePtr	Set the data type used in the intra-process buffer as std::unique_ptr<MessageT>
CallbackDefault	Set the data type used in the intra-process buffer as the same used in the callback.

◆ IntraProcessSetting

enum rclcpp::IntraProcessSetting

strong

Used as argument in create_publisher and create_subscriber.

Enumerator
Enable	Explicitly enable intraprocess comm at publisher/subscription level.
Disable	Explicitly disable intraprocess comm at publisher/subscription level.
NodeDefault	Take intraprocess configuration from the node.

◆ EndpointType

enum rclcpp::EndpointType

strong

Enumerator
Invalid
Publisher
Subscription

◆ ParameterType

enum rclcpp::ParameterType : uint8_t

Enumerator
PARAMETER_NOT_SET
PARAMETER_BOOL
PARAMETER_INTEGER
PARAMETER_DOUBLE
PARAMETER_STRING
PARAMETER_BYTE_ARRAY
PARAMETER_BOOL_ARRAY
PARAMETER_INTEGER_ARRAY
PARAMETER_DOUBLE_ARRAY
PARAMETER_STRING_ARRAY

◆ HistoryPolicy

enum rclcpp::HistoryPolicy

strong

Enumerator
KeepLast
KeepAll
SystemDefault
Unknown

◆ ReliabilityPolicy

enum rclcpp::ReliabilityPolicy

strong

Enumerator
BestEffort
Reliable
SystemDefault
Unknown

◆ DurabilityPolicy

enum rclcpp::DurabilityPolicy

strong

Enumerator
Volatile
TransientLocal
SystemDefault
Unknown

◆ LivelinessPolicy

enum rclcpp::LivelinessPolicy

strong

Enumerator
Automatic
ManualByTopic
SystemDefault
Unknown

◆ QoSCompatibility

enum rclcpp::QoSCompatibility

strong

Enumerator
Ok
Warning
Error

◆ TopicStatisticsState

enum rclcpp::TopicStatisticsState

strong

Represent the state of topic statistics collector. Used as argument in create_subscriber.

Enumerator
Enable	Explicitly enable topic statistics at subscription level.
Disable	Explicitly disable topic statistics at subscription level.
NodeDefault	Take topic statistics state from the node.

◆ WaitResultKind

enum rclcpp::WaitResultKind

Represents the various kinds of results from waiting on a wait set.

Enumerator
Ready
Timeout
Empty

Function Documentation

◆ get_contexts()

std::vector<Context::SharedPtr> rclcpp::get_contexts ( )

Return a copy of the list of context shared pointers.

This function is thread-safe.

◆ create_client()

template<typename ServiceT >

rclcpp::Client<ServiceT>::SharedPtr rclcpp::create_client	(	std::shared_ptr< node_interfaces::NodeBaseInterface >	node_base,
		std::shared_ptr< node_interfaces::NodeGraphInterface >	node_graph,
		std::shared_ptr< node_interfaces::NodeServicesInterface >	node_services,
		const std::string &	service_name,
		const rmw_qos_profile_t &	qos_profile,
		rclcpp::CallbackGroup::SharedPtr	group
	)

Create a service client with a given type.

◆ create_generic_publisher()

template<typename AllocatorT = std::allocator<void>>

std::shared_ptr<GenericPublisher> rclcpp::create_generic_publisher	(	rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr	topics_interface,
		const std::string &	topic_name,
		const std::string &	topic_type,
		const rclcpp::QoS &	qos,
		const rclcpp::PublisherOptionsWithAllocator< AllocatorT > &	options = `( rclcpp::PublisherOptionsWithAllocator<AllocatorT>() )`
	)

Create and return a GenericPublisher.

The returned pointer will never be empty, but this function can throw various exceptions, for instance when the message's package can not be found on the AMENT_PREFIX_PATH.

Parameters

topics_interface	NodeTopicsInterface pointer used in parts of the setup
topic_name	Topic name
topic_type	Topic type
qos	QoS settings
options	Publisher options. Not all publisher options are currently respected, the only relevant options for this publisher are `event_callbacks`, `use_default_callbacks`, and `callback_group`.

◆ create_generic_subscription()

template<typename AllocatorT = std::allocator<void>>

std::shared_ptr<GenericSubscription> rclcpp::create_generic_subscription	(	rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr	topics_interface,
		const std::string &	topic_name,
		const std::string &	topic_type,
		const rclcpp::QoS &	qos,
		std::function< void(std::shared_ptr< rclcpp::SerializedMessage >)>	callback,
		const rclcpp::SubscriptionOptionsWithAllocator< AllocatorT > &	options = `( rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>() )`
	)

Create and return a GenericSubscription.

The returned pointer will never be empty, but this function can throw various exceptions, for instance when the message's package can not be found on the AMENT_PREFIX_PATH.

Parameters

topics_interface	NodeTopicsInterface pointer used in parts of the setup.
topic_name	Topic name
topic_type	Topic type
qos	QoS settings
callback	Callback for new messages of serialized form
options	Publisher options. Not all publisher options are currently respected, the only relevant options for this publisher are `event_callbacks`, `use_default_callbacks`, and `callback_group`.

◆ create_publisher() [1/2]

template<typename MessageT , typename AllocatorT = std::allocator<void>, typename PublisherT = rclcpp::Publisher<MessageT, AllocatorT>, typename NodeT >

std::shared_ptr<PublisherT> rclcpp::create_publisher	(	NodeT &	node,
		const std::string &	topic_name,
		const rclcpp::QoS &	qos,
		const rclcpp::PublisherOptionsWithAllocator< AllocatorT > &	options = `( rclcpp::PublisherOptionsWithAllocator<AllocatorT>() )`
	)

Create and return a publisher of the given MessageT type.

The NodeT type only needs to have a method called get_node_topics_interface() which returns a shared_ptr to a NodeTopicsInterface.

In case options.qos_overriding_options is enabling qos parameter overrides, NodeT must also have a method called get_node_parameters_interface() which returns a shared_ptr to a NodeParametersInterface.

◆ create_publisher() [2/2]

template<typename MessageT , typename AllocatorT = std::allocator<void>, typename PublisherT = rclcpp::Publisher<MessageT, AllocatorT>>

std::shared_ptr<PublisherT> rclcpp::create_publisher	(	rclcpp::node_interfaces::NodeParametersInterface::SharedPtr &	node_parameters,
		rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr &	node_topics,
		const std::string &	topic_name,
		const rclcpp::QoS &	qos,
		const rclcpp::PublisherOptionsWithAllocator< AllocatorT > &	options = `( rclcpp::PublisherOptionsWithAllocator<AllocatorT>() )`
	)

Create and return a publisher of the given MessageT type.

◆ create_service()

template<typename ServiceT , typename CallbackT >

rclcpp::Service<ServiceT>::SharedPtr rclcpp::create_service	(	std::shared_ptr< node_interfaces::NodeBaseInterface >	node_base,
		std::shared_ptr< node_interfaces::NodeServicesInterface >	node_services,
		const std::string &	service_name,
		CallbackT &&	callback,
		const rmw_qos_profile_t &	qos_profile,
		rclcpp::CallbackGroup::SharedPtr	group
	)

Create a service with a given type.

◆ create_subscription() [1/2]

template<typename MessageT , typename CallbackT , typename AllocatorT = std::allocator<void>, typename CallbackMessageT = typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>, typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy< CallbackMessageT, AllocatorT >, typename NodeT >

std::shared_ptr<SubscriptionT> rclcpp::create_subscription	(	NodeT &	node,
		const std::string &	topic_name,
		const rclcpp::QoS &	qos,
		CallbackT &&	callback,
		const rclcpp::SubscriptionOptionsWithAllocator< AllocatorT > &	options = `( rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>() )`,
		typename MessageMemoryStrategyT::SharedPtr	msg_mem_strat = `( MessageMemoryStrategyT::create_default() )`
	)

Create and return a subscription of the given MessageT type.

The NodeT type only needs to have a method called get_node_topics_interface() which returns a shared_ptr to a NodeTopicsInterface, or be a NodeTopicsInterface pointer itself.

In case options.qos_overriding_options is enabling qos parameter overrides, NodeT must also have a method called get_node_parameters_interface() which returns a shared_ptr to a NodeParametersInterface.

Template Parameters

MessageT
CallbackT
AllocatorT
CallbackMessageT
SubscriptionT
MessageMemoryStrategyT
NodeT

Parameters

node
topic_name
qos
callback
options
msg_mem_strat

Returns: the created subscription

Exceptions

std::invalid_argument if topic statistics is enabled and the publish period is less than or equal to zero.

◆ create_subscription() [2/2]

template<typename MessageT , typename CallbackT , typename AllocatorT = std::allocator<void>, typename CallbackMessageT = typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>, typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy< CallbackMessageT, AllocatorT >>

std::shared_ptr<SubscriptionT> rclcpp::create_subscription	(	rclcpp::node_interfaces::NodeParametersInterface::SharedPtr &	node_parameters,
		rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr &	node_topics,
		const std::string &	topic_name,
		const rclcpp::QoS &	qos,
		CallbackT &&	callback,
		const rclcpp::SubscriptionOptionsWithAllocator< AllocatorT > &	options = `( rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>() )`,
		typename MessageMemoryStrategyT::SharedPtr	msg_mem_strat = `( MessageMemoryStrategyT::create_default() )`
	)

Create and return a subscription of the given MessageT type.

See create_subscription().

◆ create_timer() [1/2]

template<typename CallbackT >

rclcpp::TimerBase::SharedPtr rclcpp::create_timer	(	std::shared_ptr< node_interfaces::NodeBaseInterface >	node_base,
		std::shared_ptr< node_interfaces::NodeTimersInterface >	node_timers,
		rclcpp::Clock::SharedPtr	clock,
		rclcpp::Duration	period,
		CallbackT &&	callback,
		rclcpp::CallbackGroup::SharedPtr	group = `nullptr`
	)

Create a timer with a given clock

◆ create_timer() [2/2]

template<typename NodeT , typename CallbackT >

rclcpp::TimerBase::SharedPtr rclcpp::create_timer	(	NodeT	node,
		rclcpp::Clock::SharedPtr	clock,
		rclcpp::Duration	period,
		CallbackT &&	callback,
		rclcpp::CallbackGroup::SharedPtr	group = `nullptr`
	)

Create a timer with a given clock.

◆ create_wall_timer()

template<typename DurationRepT , typename DurationT , typename CallbackT >

rclcpp::WallTimer<CallbackT>::SharedPtr rclcpp::create_wall_timer	(	std::chrono::duration< DurationRepT, DurationT >	period,
		CallbackT	callback,
		rclcpp::CallbackGroup::SharedPtr	group,
		node_interfaces::NodeBaseInterface *	node_base,
		node_interfaces::NodeTimersInterface *	node_timers
	)

Convenience method to create a timer with node resources.

Template Parameters

DurationRepT
DurationT
CallbackT

Parameters

period	period to execute callback. This duration must be 0 <= period < nanoseconds::max()
callback	callback to execute via the timer period
group
node_base
node_timers

Returns

Exceptions

std::invalid argument if either node_base or node_timers are null, or period is negative or too large

◆ spin_some() [1/2]

void rclcpp::spin_some ( rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr )

Create a default single-threaded executor and execute any immediately available work.

Parameters

[in] node_ptr Shared pointer to the node to spin.

◆ spin_some() [2/2]

void rclcpp::spin_some ( rclcpp::Node::SharedPtr node_ptr )

◆ spin() [1/2]

void rclcpp::spin ( rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr )

Create a default single-threaded executor and spin the specified node.

Parameters

[in] node_ptr Shared pointer to the node to spin.

◆ spin() [2/2]

void rclcpp::spin ( rclcpp::Node::SharedPtr node_ptr )

◆ spin_until_future_complete() [1/2]

template<typename FutureT , typename TimeRepT = int64_t, typename TimeT = std::milli>

rclcpp::FutureReturnCode rclcpp::spin_until_future_complete	(	rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	node_ptr,
		const FutureT &	future,
		std::chrono::duration< TimeRepT, TimeT >	timeout = `std::chrono::duration<TimeRepT, TimeT>(-1)`
	)

◆ spin_until_future_complete() [2/2]

template<typename NodeT = rclcpp::Node, typename FutureT , typename TimeRepT = int64_t, typename TimeT = std::milli>

rclcpp::FutureReturnCode rclcpp::spin_until_future_complete	(	std::shared_ptr< NodeT >	node_ptr,
		const FutureT &	future,
		std::chrono::duration< TimeRepT, TimeT >	timeout = `std::chrono::duration<TimeRepT, TimeT>(-1)`
	)

◆ expand_topic_or_service_name()

std::string rclcpp::expand_topic_or_service_name	(	const std::string &	name,
		const std::string &	node_name,
		const std::string &	namespace_,
		bool	is_service = `false`
	)

Expand a topic or service name and throw if it is not valid.

This function can be used to "just" validate a topic or service name too, since expanding the topic name is required to fully validate a name.

If the name is invalid, then InvalidTopicNameError is thrown or InvalidServiceNameError if is_service is true.

This function can take any form of a topic or service name, i.e. it does not have to be a fully qualified name. The node name and namespace are used to expand it if necessary while validating it.

Expansion is done with rcl_expand_topic_name. The validation is doen with rcl_validate_topic_name and rmw_validate_full_topic_name, so details about failures can be found in the documentation for those functions.

Parameters

name	the topic or service name to be validated
node_name	the name of the node associated with the name
namespace_	the namespace of the node associated with the name
is_service	if true InvalidServiceNameError is thrown instead

Returns: expanded (and validated) topic name

Exceptions

InvalidTopicNameError	if name is invalid and is_service is false
InvalidServiceNameError	if name is invalid and is_service is true
std::bad_alloc	if memory cannot be allocated
RCLError	if an unexpect error occurs
std::runtime_error	if the topic name is unexpectedly valid or, if the rcl name is invalid or if the rcl namespace is invalid

◆ operator<<() [1/6]

std::ostream& rclcpp::operator<<	(	std::ostream &	os,
		const FutureReturnCode &	future_return_code
	)

Stream operator for FutureReturnCode.

◆ to_string() [1/3]

std::string rclcpp::to_string ( const FutureReturnCode & future_return_code )

String conversion function for FutureReturnCode.

◆ get_logger()

Logger rclcpp::get_logger ( const std::string & name )

Return a named logger.

The returned logger's name will include any naming conventions, such as a name prefix. Currently there are no such naming conventions but they may be introduced in the future.

Parameters

[in] name the name of the logger

Returns: a logger with the fully-qualified name including naming conventions, or; a dummy logger if logging is disabled.

◆ get_node_logger()

Logger rclcpp::get_node_logger ( const rcl_node_t * node )

Return a named logger using an rcl_node_t.

This is a convenience function that does error checking and returns the node logger name, or "rclcpp" if it is unable to get the node name.

Parameters

[in] node the rcl node from which to get the logger name

Returns: a logger based on the node name, or "rclcpp" if there's an error

◆ get_logging_directory()

rcpputils::fs::path rclcpp::get_logging_directory ( )

Get the current logging directory.

For more details of how the logging directory is determined, see rcl_logging_get_logging_directory.

Returns: the logging directory being used.

Exceptions

rclcpp::exceptions::RCLError if an unexpected error occurs.

◆ operator==() [1/2]

bool rclcpp::operator==	(	const NetworkFlowEndpoint &	left,
		const NetworkFlowEndpoint &	right
	)

Check if two NetworkFlowEndpoint instances are equal.

◆ operator!=() [1/2]

bool rclcpp::operator!=	(	const NetworkFlowEndpoint &	left,
		const NetworkFlowEndpoint &	right
	)

Check if two NetworkFlowEndpoint instances are not equal.

◆ operator<<() [2/6]

std::ostream& rclcpp::operator<<	(	std::ostream &	os,
		const NetworkFlowEndpoint &	network_flow_endpoint
	)

Streaming helper for NetworkFlowEndpoint.

◆ extend_name_with_sub_namespace()

RCLCPP_LOCAL std::string rclcpp::extend_name_with_sub_namespace	(	const std::string &	name,
		const std::string &	sub_namespace
	)

inline

◆ _to_json_dict_entry()

std::string rclcpp::_to_json_dict_entry ( const Parameter & param )

Return a json encoded version of the parameter intended for a dict.

◆ operator<<() [3/6]

std::ostream& rclcpp::operator<<	(	std::ostream &	os,
		const rclcpp::Parameter &	pv
	)

◆ operator<<() [4/6]

std::ostream& rclcpp::operator<<	(	std::ostream &	os,
		const std::vector< Parameter > &	parameters
	)

◆ parameter_map_from()

ParameterMap rclcpp::parameter_map_from ( const rcl_params_t *const c_params )

Convert parameters from rcl_yaml_param_parser into C++ class instances.

Parameters

[in] c_params C structures containing parameters for multiple nodes.

Returns: a map where the keys are fully qualified node names and values a list of parameters.

Exceptions

InvalidParametersException if the rcl_params_t is inconsistent or invalid.

◆ parameter_value_from()

ParameterValue rclcpp::parameter_value_from ( const rcl_variant_t *const c_value )

Convert parameter value from rcl_yaml_param_parser into a C++ class instance.

Parameters

[in] c_value C structure containing a value of a parameter.

Returns: an instance of a parameter value

Exceptions

InvalidParameterValueException if the rcl_variant_t is inconsistent or invalid.

◆ parameter_map_from_yaml_file()

ParameterMap rclcpp::parameter_map_from_yaml_file ( const std::string & yaml_filename )

Get the ParameterMap from a yaml file.

Parameters

[in] yaml_filename full name of the yaml file.

Returns: an instance of a parameter map

Exceptions

from	rcl error of rcl_parse_yaml_file()

◆ to_string() [2/3]

std::string rclcpp::to_string ( ParameterType type )

Return the name of a parameter type.

◆ operator<<() [5/6]

std::ostream& rclcpp::operator<<	(	std::ostream &	os,
		ParameterType	type
	)

◆ to_string() [3/3]

std::string rclcpp::to_string ( const ParameterValue & type )

Return the value of a parameter as a string.

◆ create_publisher_factory()

template<typename MessageT , typename AllocatorT , typename PublisherT >

PublisherFactory rclcpp::create_publisher_factory ( const rclcpp::PublisherOptionsWithAllocator< AllocatorT > & options )

Return a PublisherFactory with functions setup for creating a PublisherT<MessageT, AllocatorT>.

◆ qos_policy_name_from_kind()

std::string rclcpp::qos_policy_name_from_kind ( rmw_qos_policy_kind_t policy_kind )

◆ operator==() [2/2]

bool rclcpp::operator==	(	const QoS &	left,
		const QoS &	right
	)

Check if two QoS profiles are exactly equal in all policy values.

◆ operator!=() [2/2]

bool rclcpp::operator!=	(	const QoS &	left,
		const QoS &	right
	)

◆ qos_check_compatible()

QoSCheckCompatibleResult rclcpp::qos_check_compatible	(	const QoS &	publisher_qos,
		const QoS &	subscription_qos
	)

Check if two QoS profiles are compatible.

Two QoS profiles are compatible if a publisher and subcription using the QoS policies can communicate with each other.

If any policies have value "system default" or "unknown" then it is possible that compatiblity cannot be determined. In this case, the value QoSCompatility::Warning is set as part of the returned structure.

Example usage:

rclcpp::QoSCheckCompatibleResult result = rclcpp::qos_check_compatible(
  publisher_qos, subscription_qos);
if (rclcpp::QoSCompatibility::Error != result.compatibility) {
  // QoS not compatible ...
  // result.reason contains info about the incompatibility
} else if (rclcpp::QoSCompatibility::Warning != result.compatibility) {
  // QoS may not be compatible ...
  // result.reason contains info about the possible incompatibility
}

Parameters

[in]	publisher_qos	The QoS profile for a publisher.
[in]	subscription_qos	The QoS profile for a subscription.

Returns: Struct with compatiblity set to QoSCompatibility::Ok if the QoS profiles are compatible, or; Struct with compatibility set to QoSCompatibility::Warning if there is a chance the QoS profiles are not compatible, or; Struct with compatibility set to QoSCompatibility::Error if the QoS profiles are not compatible.

Exceptions

rclcpp::exceptions::QoSCheckCompatibilityException if an unexpected error occurs.

◆ qos_policy_kind_to_cstr()

const char* rclcpp::qos_policy_kind_to_cstr ( const QosPolicyKind & qpk )

◆ operator<<() [6/6]

std::ostream& rclcpp::operator<<	(	std::ostream &	os,
		const QosPolicyKind &	qpk
	)

◆ make_scope_exit()

template<typename Callable >

ScopeExit<Callable> rclcpp::make_scope_exit ( Callable callable )

◆ create_subscription_factory()

template<typename MessageT , typename CallbackT , typename AllocatorT , typename CallbackMessageT = typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>, typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy< CallbackMessageT, AllocatorT >>

SubscriptionFactory rclcpp::create_subscription_factory	(	CallbackT &&	callback,
		const rclcpp::SubscriptionOptionsWithAllocator< AllocatorT > &	options,
		typename MessageMemoryStrategyT::SharedPtr	msg_mem_strat,
		std::shared_ptr< rclcpp::topic_statistics::SubscriptionTopicStatistics< CallbackMessageT >>	subscription_topic_stats = `nullptr`
	)

Return a SubscriptionFactory setup to create a SubscriptionT<MessageT, AllocatorT>.

Parameters

[in]	callback	The user-defined callback function to receive a message
[in]	options	Additional options for the creation of the Subscription.
[in]	msg_mem_strat	The message memory strategy to use for allocating messages.
[in]	subscription_topic_stats	Optional stats callback for topic_statistics

◆ operator+()

Time rclcpp::operator+	(	const rclcpp::Duration &	lhs,
		const rclcpp::Time &	rhs
	)

Exceptions

std::overflow_error if addition leads to overflow

◆ get_typesupport_library()

std::shared_ptr<rcpputils::SharedLibrary> rclcpp::get_typesupport_library	(	const std::string &	type,
		const std::string &	typesupport_identifier
	)

Load the type support library for the given type.

Parameters

[in]	type	The topic type, e.g. "std_msgs/msg/String"
[in]	typesupport_identifier	Type support identifier, typically "rosidl_typesupport_cpp"

Returns: A shared library

◆ get_typesupport_handle()

const rosidl_message_type_support_t* rclcpp::get_typesupport_handle	(	const std::string &	type,
		const std::string &	typesupport_identifier,
		rcpputils::SharedLibrary &	library
	)

Extract the type support handle from the library.

The library needs to match the topic type. The shared library must stay loaded for the lifetime of the result.

Parameters

[in]	type	The topic type, e.g. "std_msgs/msg/String"
[in]	typesupport_identifier	Type support identifier, typically "rosidl_typesupport_cpp"
[in]	library	The shared type support library

Returns: A type support handle

◆ init()

void rclcpp::init	(	int	argc,
		char const *const	argv[],
		const InitOptions &	init_options = `InitOptions()`
	)

Initialize communications via the rmw implementation and set up a global signal handler.

Initializes the global context which is accessible via the function rclcpp::contexts::get_global_default_context(). Also, installs the global signal handlers with the function rclcpp::install_signal_handlers().

See also: rclcpp::Context::init() for more details on arguments and possible exceptions

◆ install_signal_handlers()

bool rclcpp::install_signal_handlers ( )

Install the global signal handler for rclcpp.

This function should only need to be run one time per process. It is implicitly run by rclcpp::init(), and therefore this function does not need to be run manually if rclcpp::init() has already been run.

The signal handler will shutdown all initialized context. It will also interrupt any blocking functions in ROS allowing them react to any changes in the state of the system (like shutdown).

This function is thread-safe.

Returns: true if signal handler was installed by this function, false if already installed.

◆ signal_handlers_installed()

bool rclcpp::signal_handlers_installed ( )

Return true if the signal handlers are installed, otherwise false.

◆ uninstall_signal_handlers()

bool rclcpp::uninstall_signal_handlers ( )

Uninstall the global signal handler for rclcpp.

This function does not necessarily need to be called, but can be used to undo what rclcpp::install_signal_handlers() or rclcpp::init() do with respect to signal handling. If you choose to use it, this function only needs to be run one time. It is implicitly run by rclcpp::shutdown(), and therefore this function does not need to be run manually if rclcpp::shutdown() has already been run.

This function is thread-safe.

Returns: true if signal handler was uninstalled by this function, false if was not installed.

◆ init_and_remove_ros_arguments()

std::vector<std::string> rclcpp::init_and_remove_ros_arguments	(	int	argc,
		char const *const	argv[],
		const InitOptions &	init_options = `InitOptions()`
	)

Initialize communications via the rmw implementation and set up a global signal handler.

Additionally removes ROS-specific arguments from the argument vector.

See also: rclcpp::Context::init() for more details on arguments and possible exceptions

Returns: Members of the argument vector that are not ROS arguments.

Exceptions

anything remove_ros_arguments can throw

◆ remove_ros_arguments()

std::vector<std::string> rclcpp::remove_ros_arguments	(	int	argc,
		char const *const	argv[]
	)

Remove ROS-specific arguments from argument vector.

Some arguments may not have been intended as ROS arguments. This function populates the arguments in a vector. Since the first argument is always assumed to be a process name, the vector will always contain the process name.

Parameters

[in]	argc	Number of arguments.
[in]	argv	Argument vector.

Returns: Members of the argument vector that are not ROS arguments.

Exceptions

anything	throw_from_rcl_error can throw
rclcpp::exceptions::RCLError	if the parsing fails

◆ ok()

bool rclcpp::ok ( rclcpp::Context::SharedPtr context = nullptr )

Check rclcpp's status.

This may return false for a context which has been shutdown, or for a context that was shutdown due to SIGINT being received by the rclcpp signal handler.

If nullptr is given for the context, then the global context is used, i.e. the context initialized by rclcpp::init().

Parameters

[in] context Optional check for shutdown of this Context.

Returns: true if shutdown has been called, false otherwise

◆ shutdown()

bool rclcpp::shutdown	(	rclcpp::Context::SharedPtr	context = `nullptr`,
		const std::string &	reason = `"user called rclcpp::shutdown()"`
	)

Shutdown rclcpp context, invalidating it for derived entities.

If nullptr is given for the context, then the global context is used, i.e. the context initialized by rclcpp::init().

If the global context is used, then the signal handlers are also uninstalled.

This will also cause the "on_shutdown" callbacks to be called.

See also: rclcpp::Context::shutdown()

Parameters

[in]	context	Optional to be shutdown
[in]	reason	Optional string passed to the context shutdown method

Returns: true if shutdown was successful, false if context was already shutdown

◆ on_shutdown()

void rclcpp::on_shutdown	(	std::function< void()>	callback,
		rclcpp::Context::SharedPtr	context = `nullptr`
	)

Register a function to be called when shutdown is called on the context.

If nullptr is given for the context, then the global context is used, i.e. the context initialized by rclcpp::init().

These callbacks are called when the associated Context is shutdown with the Context::shutdown() method. When shutdown by the SIGINT handler, shutdown, and therefore these callbacks, is called asynchronously from the dedicated signal handling thread, at some point after the SIGINT signal is received.

See also: rclcpp::Context::on_shutdown()

Parameters

[in]	callback	to be called when the given context is shutdown
[in]	context	with which to associate the context

◆ sleep_for()

bool rclcpp::sleep_for	(	const std::chrono::nanoseconds &	nanoseconds,
		rclcpp::Context::SharedPtr	context = `nullptr`
	)

Use the global condition variable to block for the specified amount of time.

This function can be interrupted early if the associated context becomes invalid due to shutdown() or the signal handler.

See also: rclcpp::Context::sleep_for

If nullptr is given for the context, then the global context is used, i.e. the context initialized by rclcpp::init().

Parameters

[in]	nanoseconds	A std::chrono::duration representing how long to sleep for.
[in]	context	Optional which may interrupt this sleep

Returns: true if the condition variable did not timeout.

◆ add_will_overflow()

template<typename T >

bool rclcpp::add_will_overflow	(	const T	x,
		const T	y
	)

Safely check if addition will overflow.

The type of the operands, T, should have defined std::numeric_limits<T>::max(), >, < and - operators.

Parameters

[in]	x	is the first addend.
[in]	y	is the second addend.

Template Parameters

T	is type of the operands.

Returns: True if the x + y sum is greater than T::max value.

◆ add_will_underflow()

template<typename T >

bool rclcpp::add_will_underflow	(	const T	x,
		const T	y
	)

Safely check if addition will underflow.

The type of the operands, T, should have defined std::numeric_limits<T>::min(), >, < and - operators.

Parameters

[in]	x	is the first addend.
[in]	y	is the second addend.

Template Parameters

T	is type of the operands.

Returns: True if the x + y sum is less than T::min value.

◆ sub_will_overflow()

template<typename T >

bool rclcpp::sub_will_overflow	(	const T	x,
		const T	y
	)

Safely check if subtraction will overflow.

The type of the operands, T, should have defined std::numeric_limits<T>::max(), >, < and + operators.

Parameters

[in]	x	is the minuend.
[in]	y	is the subtrahend.

Template Parameters

T	is type of the operands.

Returns: True if the difference x - y sum is grater than T::max value.

◆ sub_will_underflow()

template<typename T >

bool rclcpp::sub_will_underflow	(	const T	x,
		const T	y
	)

Safely check if subtraction will underflow.

The type of the operands, T, should have defined std::numeric_limits<T>::min(), >, < and + operators.

Parameters

[in]	x	is the minuend.
[in]	y	is the subtrahend.

Template Parameters

T	is type of the operands.

Returns: True if the difference x - y sum is less than T::min value.

◆ get_c_string() [1/2]

const char* rclcpp::get_c_string ( const char * string_in )

Return the given string.

This function is overloaded to transform any string to C-style string.

Parameters

[in] string_in is the string to be returned

Returns: the given string

◆ get_c_string() [2/2]

const char* rclcpp::get_c_string ( const std::string & string_in )

Return the C string from the given std::string.

Parameters

[in] string_in is a std::string

Returns: the C string from the std::string

Namespaces

Classes

Typedefs

Enumerations

Functions

Detailed Description

Typedef Documentation

◆ WeakCallbackGroupsToNodesMap

◆ ParameterMap

◆ PublisherOptions

◆ QOSDeadlineRequestedInfo

◆ QOSDeadlineOfferedInfo

◆ QOSLivelinessChangedInfo

◆ QOSLivelinessLostInfo

◆ QOSMessageLostInfo

◆ QOSOfferedIncompatibleQoSInfo

◆ QOSRequestedIncompatibleQoSInfo

◆ QOSDeadlineRequestedCallbackType

◆ QOSDeadlineOfferedCallbackType

◆ QOSLivelinessChangedCallbackType

◆ QOSLivelinessLostCallbackType

◆ QOSMessageLostCallbackType

◆ QOSOfferedIncompatibleQoSCallbackType

◆ QOSRequestedIncompatibleQoSCallbackType

◆ QosCallbackResult

◆ QosCallback

◆ Rate

◆ WallRate

◆ SubscriptionOptions

◆ VoidCallbackType

◆ TimerCallbackType

◆ WaitSet

◆ StaticWaitSet

◆ ThreadSafeWaitSet

Enumeration Type Documentation

◆ CallbackGroupType

◆ FutureReturnCode

◆ IntraProcessBufferType

◆ IntraProcessSetting

◆ EndpointType

◆ ParameterType

◆ HistoryPolicy

◆ ReliabilityPolicy

◆ DurabilityPolicy

◆ LivelinessPolicy

◆ QoSCompatibility

◆ TopicStatisticsState

◆ WaitResultKind

Function Documentation

◆ get_contexts()

◆ create_client()

◆ create_generic_publisher()

◆ create_generic_subscription()

◆ create_publisher() [1/2]

◆ create_publisher() [2/2]

◆ create_service()

◆ create_subscription() [1/2]

◆ create_subscription() [2/2]

◆ create_timer() [1/2]

◆ create_timer() [2/2]

◆ create_wall_timer()

◆ spin_some() [1/2]

◆ spin_some() [2/2]

◆ spin() [1/2]

◆ spin() [2/2]

◆ spin_until_future_complete() [1/2]

◆ spin_until_future_complete() [2/2]

◆ expand_topic_or_service_name()

◆ operator<<() [1/6]

◆ to_string() [1/3]

◆ get_logger()

◆ get_node_logger()

◆ get_logging_directory()

◆ operator==() [1/2]

◆ operator!=() [1/2]

◆ operator<<() [2/6]

◆ extend_name_with_sub_namespace()

◆ _to_json_dict_entry()

◆ operator<<() [3/6]

◆ operator<<() [4/6]