rclcpp  master
C++ ROS Client Library API
rclcpp: ROS Client Library for C++

rclcpp provides the canonical C++ API for interacting with ROS. It consists of these main components:

There are also some components which help control the execution of callbacks:

Additionally, there are some methods for introspecting the ROS graph:

And components related to logging:

Finally, there are many internal API's and utilities: