rosidl_typesupport_introspection_c features

rosidl_typesupport_introspection_c provides a Python generator executable, rosidl_typesupport_introspection_c, based on Empy to create C source files that describes the type of a ROS 2 C message and provides interfaces to construct and interpret such messages.

The templates utilized by this generator executable are located in the resource directory and generate source files for messages, services and actions.

rosidl_typesupport_introspection_c defines a typesupport identifier, which is declared in identifier.h.

rosidl_typesupport_introspection_c provides the following functionality for incorporation into generated typesupport source files.

• message_type_support_decl.h: Look up message type support handle functions from available libraries.

• service_type_support_decl.h: Look up service type support handle functions from available libraries.

• message_introspection.h: Defines the representation of message members and functions to construct or destruct messages and members and to compute member addresses.

• service_introspection.h: Provides access to service name, namespace and message types.

• field_types.h: Defines the codes used to identify a members’ types.