Function rclc_support_init_with_options

Function Documentation

rcl_ret_t rclc_support_init_with_options(rclc_support_t *support, int argc, char const *const *argv, rcl_init_options_t *init_options, rcl_allocator_t *allocator)

Initializes rcl and creates some support data structures. Initializes clock as RCL_STEADY_TIME.

  • Attribute

    Adherence

    Allocates Memory

    Yes (in RCL)

    Thread-Safe

    No

    Uses Atomics

    No

    Lock-Free

    Yes

Parameters:

  • support – [inout] a zero-initialized rclc_support_t

  • argc – [in] number of args of main

  • argv – [in] array of arguments of main

  • init_options – [in] custom initial options

  • allocator – [in] allocator for allocating memory

Returns:

RCL_RET_OK if RCL was initialized successfully

Returns:

RCL_RET_INVALID_ARGUMENT if any null pointer as argument

Returns:

RCL_RET_ERROR in case of failure