Function rclc_subscription_init

Function Documentation

rcl_ret_t rclc_subscription_init(rcl_subscription_t *subscription, rcl_node_t *node, const rosidl_message_type_support_t *type_support, const char *topic_name, const rmw_qos_profile_t *qos_profile)

Creates an rcl subscription with defined QoS

  • Attribute

    Adherence

    Allocates Memory

    Yes (in RCL)

    Thread-Safe

    No

    Uses Atomics

    No

    Lock-Free

    Yes

Parameters:

  • subscription – [inout] - a zero-initialized rcl_subscription_t

  • node – [in] the rcl node

  • type_support – [in] the message data type

  • topic_name – [in] the name of subscribed topic

  • qos_profile – [in] the qos of the topic

Returns:

RCL_RET_OK if successful

Returns:

RCL_ERROR (or other error code) if an error occurred