rclcpp_components: Package containing tools for dynamically loadable components.
ComponentManager: Node to manage components. It has the services to load, unload and list current components.
Node factory: The NodeFactory interface is used by the class loader to instantiate components.
It allows for classes not derived from
rclcpp::Nodeto be used as components.
It allows derived constructors to be called when components are loaded.
Some useful abstractions and utilities:
[RCLCPP_COMPONENTS_REGISTER_NODE: Register a component that can be dynamically loaded at runtime.
Some useful internal abstractions and utilities:
Macros for controlling symbol visibility on the library
Package containing CMake tools for register components:
rclcpp_components_register_nodeRegister an rclcpp component with the ament resource index and create an executable.
rclcpp_components_register_nodesRegister an rclcpp component with the ament resource index. The passed library can contain multiple nodes each registered via macro.