Define RCLCPP_COMPONENTS_REGISTER_NODE

• Defined in File register_node_macro.hpp

Define Documentation

RCLCPP_COMPONENTS_REGISTER_NODE(NodeClass)

Register a component that can be dynamically loaded at runtime.

The registration macro should appear once per component per library. The macro should appear in a single translation unit.

Valid arguments for NodeClass shall:

• Have a constructor that takes a single argument that is a rclcpp::NodeOptions instance.

• Have a method of of the signature: rclcpp::node_interfaces::NodeBaseInterface::SharedPtr get_node_base_interface

Note: NodeClass does not need to inherit from rclcpp::Node, but it is the easiest way.