Function rclc_executor_add_client_with_request_id

• Defined in File executor.h

Function Documentation

rcl_ret_t rclc_executor_add_client_with_request_id(rclc_executor_t *executor, rcl_client_t *client, void *response_msg, rclc_client_callback_with_request_id_t callback)

Adds a client to an executor.

• An error is returned if rclc_executor_t.handles array is full.

• The total number_of_clients field of rclc_executor_t.info is incremented by one.

Attribute	Adherence
Allocates Memory	No
Thread-Safe	No
Uses Atomics	No
Lock-Free	Yes

Parameters:

• executor – [inout] pointer to initialized executor

• client – [in] pointer to a allocated and initialized client

• request_msg – [in] type-erased ptr to an allocated request message

• callback – [in] function pointer to a callback function with request_id

Returns:

RCL_RET_OK if add-operation was successful

Returns:

RCL_RET_INVALID_ARGUMENT if any parameter is a null pointer

Returns:

RCL_RET_ERROR if any other error occured