Define Documentation


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.