rclcpp::detail Namespace Reference

Classes
struct	AnySubscriptionCallbackHelper
struct	MessageDeleterHelper
class	MutexTwoPriorities
struct	PublisherQosParametersTraits
class	QosParameters
class	RMWImplementationSpecificPayload
	Mechanism for passing rmw implementation specific settings through the ROS interfaces. More...
class	RMWImplementationSpecificPublisherPayload
class	RMWImplementationSpecificSubscriptionPayload
	Subscription payload that may be rmw implementation specific. More...
struct	SubscriptionCallbackTypeHelper
	Template metaprogramming helper used to resolve the callback argument into a std::function. More...
struct	SubscriptionQosParametersTraits
struct	value >>
struct	value >>
struct	value >>
struct	value >>
struct	value >>
struct	value >>

Functions
template<typename MessageT , typename AllocatorT = std::allocator<void>, typename PublisherT = rclcpp::Publisher<MessageT, AllocatorT>, typename NodeParametersT , typename NodeTopicsT >
std::shared_ptr< PublisherT >	create_publisher (NodeParametersT &node_parameters, NodeTopicsT &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 MessageT , typename CallbackT , typename AllocatorT , typename CallbackMessageT , typename SubscriptionT , typename MessageMemoryStrategyT , typename NodeParametersT , typename NodeTopicsT >
std::shared_ptr< SubscriptionT >	create_subscription (NodeParametersT &node_parameters, NodeTopicsT &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()))
inline ::rclcpp::ParameterValue	get_default_qos_param_value (rclcpp::QosPolicyKind policy, const rclcpp::QoS &qos)
void	apply_qos_override (rclcpp::QosPolicyKind policy, rclcpp::ParameterValue value, rclcpp::QoS &qos)
rclcpp::ParameterValue	declare_parameter_or_get (rclcpp::node_interfaces::NodeParametersInterface &parameters_interface, const std::string &param_name, rclcpp::ParameterValue param_value, rcl_interfaces::msg::ParameterDescriptor descriptor)
template<typename NodeT , typename EntityQosParametersTraits >
std::enable_if_t< rclcpp::node_interfaces::has_node_parameters_interface< decltype(std::declval< typename rcpputils::remove_pointer< NodeT >::type >))>::value||std::is_same< typename std::decay_t< NodeT >, rclcpp::node_interfaces::NodeParametersInterface::SharedPtr >::value, rclcpp::QoS >	declare_qos_parameters (const ::rclcpp::QosOverridingOptions &options, NodeT &node, const std::string &topic_name, const ::rclcpp::QoS &default_qos, EntityQosParametersTraits)
int64_t	rmw_duration_to_int64_t (rmw_time_t rmw_duration)
	Convert rmw_time_t to int64_t that can be used as a parameter value. More...
const char *	check_if_stringified_policy_is_null (const char *policy_value_stringified, QosPolicyKind kind)
template<typename OptionsT , typename NodeBaseT >
bool	resolve_enable_topic_statistics (const OptionsT &options, const NodeBaseT &node_base)
	Return whether or not topic statistics is enabled, resolving "NodeDefault" if needed. More...
template<typename CallbackMessageT , typename AllocatorT >
rclcpp::IntraProcessBufferType	resolve_intra_process_buffer_type (const rclcpp::IntraProcessBufferType buffer_type, const rclcpp::AnySubscriptionCallback< CallbackMessageT, AllocatorT > &any_subscription_callback)
	Return the buffer type, resolving the "CallbackDefault" type to an actual type if needed. More...
template<typename OptionsT , typename NodeBaseT >
bool	resolve_use_intra_process (const OptionsT &options, const NodeBaseT &node_base)
	Return whether or not intra process is enabled, resolving "NodeDefault" if needed. More...
std::vector< std::string >	get_unparsed_ros_arguments (int argc, char const *const argv[], rcl_arguments_t *arguments, rcl_allocator_t allocator)
template<typename T >
auto	get_value_helper (const rclcpp::Parameter *parameter)
template<>
auto	get_value_helper< rclcpp::ParameterValue > (const rclcpp::Parameter *parameter)
template<>
auto	get_value_helper< rclcpp::Parameter > (const rclcpp::Parameter *parameter)

Function Documentation

create_publisher()

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

std::shared_ptr<PublisherT> rclcpp::detail::create_publisher	(	NodeParametersT &	node_parameters,
		NodeTopicsT &	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_subscription()

template<typename MessageT , typename CallbackT , typename AllocatorT , typename CallbackMessageT , typename SubscriptionT , typename MessageMemoryStrategyT , typename NodeParametersT , typename NodeTopicsT >

std::shared_ptr<SubscriptionT> rclcpp::detail::create_subscription	(	NodeParametersT &	node_parameters,
		NodeTopicsT &	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()  )
	)

get_default_qos_param_value()

rclcpp::ParameterValue rclcpp::detail::get_default_qos_param_value	(	rclcpp::QosPolicyKind	policy,
		const rclcpp::QoS &	qos
	)

apply_qos_override()

void rclcpp::detail::apply_qos_override ( rclcpp::QosPolicyKind  policy, rclcpp::ParameterValue  value, rclcpp::QoS &  qos  )

inline

declare_parameter_or_get()

rclcpp::ParameterValue rclcpp::detail::declare_parameter_or_get ( rclcpp::node_interfaces::NodeParametersInterface &  parameters_interface, const std::string &  param_name, rclcpp::ParameterValue  param_value, rcl_interfaces::msg::ParameterDescriptor  descriptor  )

inline

declare_qos_parameters()

template<typename NodeT , typename EntityQosParametersTraits >

std::enable_if_t< rclcpp::node_interfaces::has_node_parameters_interface< decltype(std::declval<typename rcpputils::remove_pointer<NodeT>::type>))>::value || std::is_same<typename std::decay_t<NodeT>, rclcpp::node_interfaces::NodeParametersInterface::SharedPtr>::value, rclcpp::QoS> rclcpp::detail::declare_qos_parameters	(	const ::rclcpp::QosOverridingOptions &	options,
		NodeT &	node,
		const std::string &	topic_name,
		const ::rclcpp::QoS &	default_qos,
		EntityQosParametersTraits
	)

Template Parameters

NodeT	Node pointer or reference type.
EntityQosParametersTraits	A class with two static methods: entity_type() and allowed_policies(). See PublisherQosParametersTraits and SubscriptionQosParametersTraits.

Parameters

options	User provided options that indicate if QoS parameter overrides should be declared or not, which policy can have overrides, and optionally a callback to validate the profile.
node	Parameters will be declared using this node.
topic_name	Name of the topic of the entity.
default_qos	User provided qos. It will be used as a default for the parameters declared.

Returns

qos profile based on the user provided parameter overrides.

rmw_duration_to_int64_t()

int64_t rclcpp::detail::rmw_duration_to_int64_t ( rmw_time_t  rmw_duration )

inline

Convert rmw_time_t to int64_t that can be used as a parameter value.

check_if_stringified_policy_is_null()

const char* rclcpp::detail::check_if_stringified_policy_is_null ( const char *  policy_value_stringified, QosPolicyKind  kind  )

inline

resolve_enable_topic_statistics()

template<typename OptionsT , typename NodeBaseT >

bool rclcpp::detail::resolve_enable_topic_statistics	(	const OptionsT &	options,
		const NodeBaseT &	node_base
	)

Return whether or not topic statistics is enabled, resolving "NodeDefault" if needed.

resolve_intra_process_buffer_type()

template<typename CallbackMessageT , typename AllocatorT >

rclcpp::IntraProcessBufferType rclcpp::detail::resolve_intra_process_buffer_type	(	const rclcpp::IntraProcessBufferType	buffer_type,
		const rclcpp::AnySubscriptionCallback< CallbackMessageT, AllocatorT > &	any_subscription_callback
	)

Return the buffer type, resolving the "CallbackDefault" type to an actual type if needed.

resolve_use_intra_process()

template<typename OptionsT , typename NodeBaseT >

bool rclcpp::detail::resolve_use_intra_process	(	const OptionsT &	options,
		const NodeBaseT &	node_base
	)

Return whether or not intra process is enabled, resolving "NodeDefault" if needed.

get_unparsed_ros_arguments()

std::vector<std::string> rclcpp::detail::get_unparsed_ros_arguments	(	int	argc,
		char const *const	argv[],
		rcl_arguments_t *	arguments,
		rcl_allocator_t	allocator
	)

get_value_helper()

template<typename T >

auto rclcpp::detail::get_value_helper

(

const rclcpp::Parameter *

parameter

)

get_value_helper< rclcpp::ParameterValue >()

template<>

auto rclcpp::detail::get_value_helper< rclcpp::ParameterValue > ( const rclcpp::Parameter *  parameter )

inline

get_value_helper< rclcpp::Parameter >()

template<>

auto rclcpp::detail::get_value_helper< rclcpp::Parameter > ( const rclcpp::Parameter *  parameter )

inline