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# 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.