Function rmw_serialize

• Defined in File rmw.h

Function Documentation

rmw_ret_t rmw_serialize(const void *ros_message, const rosidl_message_type_support_t *type_support, rmw_serialized_message_t *serialized_message)

Serialize a ROS message into a rmw_serialized_message_t.

The ROS message is serialized into a byte stream contained within the rmw_serialized_message_t structure. The serialization format depends on the underlying implementation.

Attribute	Adherence
Allocates Memory	Maybe [1]
Thread-Safe	No
Uses Atomics	Maybe [2]
Lock-Free	Maybe [2]

[1] if the given serialized message does not have enough capacity to hold the ROS message serialization [2] rmw implementation defined, check the implementation documentation

Pre:

Given ROS message must be a valid non-null instance, initialized by the caller and matching the provided typesupport.

Pre:

Given typesupport must be a valid non-null instance, as provided by rosidl APIs.

Pre:

Given serialized message must be a valid non-null instance, initialized by the caller.

Parameters:

• ros_message – [in] the typed ROS message

• type_support – [in] the typesupport for the ROS message

• serialized_message – [out] the destination for the serialize ROS message

Returns:

RMW_RET_OK if successful, or

Returns:

RMW_RET_BAD_ALLOC if memory allocation failed, or

Returns:

RMW_RET_ERROR if an unexpected error occurs.