rmw: ROS Middleware Abstraction Interface

rmw defines an interface of middleware primitives that are used by the higher level ROS API’s. It consists of these main components:

• Initialization and Shutdown:

  • rmw/init.h

• Nodes

  • rmw/rmw.h

• Publisher

  • rmw/rmw.h

• Subscription

  • rmw/rmw.h

• Service Client

  • rmw/rmw.h

• Service Server

  • rmw/rmw.h

There are some common utility functions in combination with “Topics” or “Services”:

• A function to validate a fully qualified topic or service name

  • rmw_validate_full_topic_name()

  • rmw/validate_full_topic_name.h

• A function to validate a node’s namespace

  • rmw_validate_namespace()

  • rmw/validate_namespace.h

• A function to validate a node’s name

  • rmw_validate_node_name()

  • rmw/validate_node_name.h

• A function to validate the compatibility of two QoS profiles

  • rmw_qos_profile_check_compatible()

  • rmw/qos_profiles.h

It also has some machinery that is necessary to wait on and act on these concepts:

• Initialization and shutdown management (global for now)

  • rmw/rmw.h

• Wait sets for waiting on messages and service requests / responses to be ready

  • rmw/rmw.h

• Guard conditions for waking up wait sets asynchronously

  • rmw/rmw.h

• Introspection of the ROS graph

  • rmw_names_and_types_t

  • rmw_get_topic_names_and_types()

  • rmw_get_service_names_and_types()

  • rmw/names_and_types.h

  • rmw/get_topic_names_and_types.h

  • rmw/get_topic_endpoint_info.h

  • rmw/get_service_names_and_types.h

Further still there are some useful abstractions and utilities:

• Allocator functions for various types

  • rmw/allocators.h

• Error handling functionality (C style)

  • rmw/error_handling.h

• Macros

  • rmw/macros.h

• Return code types and other utility types

  • rmw/types.h

• Sanity checks for some of the types

  • rmw/sanity_checks.h

• Macros for controlling symbol visibility on the library

  • rmw/visibility_control.h

• Utility function to demangle a type to a human readable string (C++ specific):

  • rmw/impl/cpp/demangle.hpp

Page Hierarchy

• • Deprecated List
  • Todo List

Class Hierarchy

• • Struct rmw_client_s
  • Struct rmw_clients_s
  • Struct rmw_context_s
  • Struct rmw_discovery_options_s
  • Struct rmw_event_s
  • Struct rmw_events_s
  • Struct rmw_gid_s
  • Struct rmw_guard_condition_s
  • Struct rmw_guard_conditions_s
  • Struct rmw_incompatible_type_status_s
  • Struct rmw_init_options_s
  • Struct rmw_liveliness_changed_status_s
  • Struct rmw_liveliness_lost_status_s
  • Struct rmw_matched_status_s
  • Struct rmw_message_info_s
  • Struct rmw_message_info_sequence_s
  • Struct rmw_message_lost_status_s
  • Struct rmw_message_sequence_s
  • Struct rmw_names_and_types_s
  • Struct rmw_network_flow_endpoint_array_s
  • Struct rmw_network_flow_endpoint_s
  • Struct rmw_node_s
  • Struct rmw_offered_deadline_missed_status_s
  • Struct rmw_peer_address_s
  • Struct rmw_publisher_allocation_s
  • Struct rmw_publisher_options_s
  • Struct rmw_publisher_s
  • Struct rmw_qos_incompatible_event_status_s
  • Struct rmw_qos_profile_s
  • Struct rmw_request_id_s
  • Struct rmw_requested_deadline_missed_status_s
  • Struct rmw_security_options_s
  • Struct rmw_service_info_s
  • Struct rmw_service_s
  • Struct rmw_services_s
  • Struct rmw_subscription_allocation_s
  • Struct rmw_subscription_content_filter_options_s
  • Struct rmw_subscription_options_s
  • Struct rmw_subscription_s
  • Struct rmw_subscriptions_s
  • Struct rmw_time_s
  • Struct rmw_topic_endpoint_info_array_s
  • Struct rmw_topic_endpoint_info_s
  • Struct rmw_wait_set_s
  • Enum @0
  • Enum rmw_automatic_discovery_range_e
  • Enum rmw_endpoint_type_e
  • Enum rmw_event_type_e
  • Enum rmw_feature_e
  • Enum rmw_internet_protocol_e
  • Enum rmw_localhost_only_e
  • Enum rmw_log_severity_t
  • Enum rmw_qos_compatibility_type_e
  • Enum rmw_qos_durability_policy_e
  • Enum rmw_qos_history_policy_e
  • Enum rmw_qos_liveliness_policy_e
  • Enum rmw_qos_policy_kind_e
  • Enum rmw_qos_reliability_policy_e
  • Enum rmw_security_enforcement_policy_e
  • Enum rmw_transport_protocol_e
  • Enum rmw_unique_network_flow_endpoints_requirement_e

File Hierarchy

• • Directory include
    • Directory rmw
      • Directory events_statuses
        • File events_statuses.h
        • File incompatible_qos.h
        • File incompatible_type.h
        • File liveliness_changed.h
        • File liveliness_lost.h
        • File matched.h
        • File message_lost.h
        • File offered_deadline_missed.h
        • File requested_deadline_missed.h
      • Directory impl
        • Directory cpp
          • File demangle.hpp
          • File key_value.hpp
          • File macros.hpp
        • File config.h
      • File allocators.h
      • File check_type_identifiers_match.h
      • File convert_rcutils_ret_to_rmw_ret.h
      • File discovery_options.h
      • File domain_id.h
      • File dynamic_message_type_support.h
      • File error_handling.h
      • File event.h
      • File event_callback_type.h
      • File features.h
      • File get_network_flow_endpoints.h
      • File get_node_info_and_types.h
      • File get_service_names_and_types.h
      • File get_topic_endpoint_info.h
      • File get_topic_names_and_types.h
      • File incompatible_qos_events_statuses.h
      • File init.h
      • File init_options.h
      • File localhost.h
      • File macros.h
      • File message_sequence.h
      • File names_and_types.h
      • File network_flow_endpoint.h
      • File network_flow_endpoint_array.h
      • File publisher_options.h
      • File qos_policy_kind.h
      • File qos_profiles.h
      • File qos_string_conversions.h
      • File ret_types.h
      • File rmw.h
      • File sanity_checks.h
      • File security_options.h
      • File serialized_message.h
      • File subscription_content_filter_options.h
      • File subscription_options.h
      • File time.h
      • File topic_endpoint_info.h
      • File topic_endpoint_info_array.h
      • File types.h
      • File validate_full_topic_name.h
      • File validate_namespace.h
      • File validate_node_name.h
      • File visibility_control.h

Reference

Namespaces

• Namespace rmw

• Namespace rmw::impl

• Namespace rmw::impl::cpp

Classes and Structs

• Struct rmw_client_s

• Struct rmw_clients_s

• Struct rmw_context_s

• Struct rmw_discovery_options_s

• Struct rmw_event_s

• Struct rmw_events_s

• Struct rmw_gid_s

• Struct rmw_guard_condition_s

• Struct rmw_guard_conditions_s

• Struct rmw_incompatible_type_status_s

• Struct rmw_init_options_s

• Struct rmw_liveliness_changed_status_s

• Struct rmw_liveliness_lost_status_s

• Struct rmw_matched_status_s

• Struct rmw_message_info_s

• Struct rmw_message_info_sequence_s

• Struct rmw_message_lost_status_s

• Struct rmw_message_sequence_s

• Struct rmw_names_and_types_s

• Struct rmw_network_flow_endpoint_array_s

• Struct rmw_network_flow_endpoint_s

• Struct rmw_node_s

• Struct rmw_offered_deadline_missed_status_s

• Struct rmw_peer_address_s

• Struct rmw_publisher_allocation_s

• Struct rmw_publisher_options_s

• Struct rmw_publisher_s

• Struct rmw_qos_incompatible_event_status_s

• Struct rmw_qos_profile_s

• Struct rmw_request_id_s

• Struct rmw_requested_deadline_missed_status_s

• Struct rmw_security_options_s

• Struct rmw_service_info_s

• Struct rmw_service_s

• Struct rmw_services_s

• Struct rmw_subscription_allocation_s

• Struct rmw_subscription_content_filter_options_s

• Struct rmw_subscription_options_s

• Struct rmw_subscription_s

• Struct rmw_subscriptions_s

• Struct rmw_time_s

• Struct rmw_topic_endpoint_info_array_s

• Struct rmw_topic_endpoint_info_s

• Struct rmw_wait_set_s

Enums

• Enum @0

• Enum rmw_automatic_discovery_range_e

• Enum rmw_endpoint_type_e

• Enum rmw_event_type_e

• Enum rmw_feature_e

• Enum rmw_internet_protocol_e

• Enum rmw_localhost_only_e

• Enum rmw_log_severity_t

• Enum rmw_qos_compatibility_type_e

• Enum rmw_qos_durability_policy_e

• Enum rmw_qos_history_policy_e

• Enum rmw_qos_liveliness_policy_e

• Enum rmw_qos_policy_kind_e

• Enum rmw_qos_reliability_policy_e

• Enum rmw_security_enforcement_policy_e

• Enum rmw_transport_protocol_e

• Enum rmw_unique_network_flow_endpoints_requirement_e

Functions

• Template Function rmw::impl::cpp::demangle

• Function rmw::impl::cpp::parse_key_value

• Function rmw_allocate

• Function rmw_borrow_loaned_message

• Function rmw_check_zero_rmw_string_array

• Function rmw_client_allocate

• Function rmw_client_free

• Function rmw_client_request_publisher_get_actual_qos

• Function rmw_client_response_subscription_get_actual_qos

• Function rmw_client_set_on_new_response_callback

• Function rmw_compare_gids_equal

• Function rmw_context_fini

• Function rmw_convert_rcutils_ret_to_rmw_ret

• Function rmw_count_clients

• Function rmw_count_publishers

• Function rmw_count_services

• Function rmw_count_subscribers

• Function rmw_create_client

• Function rmw_create_guard_condition

• Function rmw_create_node

• Function rmw_create_publisher

• Function rmw_create_service

• Function rmw_create_subscription

• Function rmw_create_wait_set

• Function rmw_deserialize

• Function rmw_destroy_client

• Function rmw_destroy_guard_condition

• Function rmw_destroy_node

• Function rmw_destroy_publisher

• Function rmw_destroy_service

• Function rmw_destroy_subscription

• Function rmw_destroy_wait_set

• Function rmw_discovery_options_copy

• Function rmw_discovery_options_equal

• Function rmw_discovery_options_fini

• Function rmw_discovery_options_init

• Function rmw_event_fini

• Function rmw_event_set_callback

• Function rmw_feature_supported

• Function rmw_fini_publisher_allocation

• Function rmw_fini_subscription_allocation

• Function rmw_free

• Function rmw_full_topic_name_validation_result_string

• Function rmw_get_client_names_and_types_by_node

• Function rmw_get_default_publisher_options

• Function rmw_get_default_security_options

• Function rmw_get_default_subscription_options

• Function rmw_get_gid_for_client

• Function rmw_get_gid_for_publisher

• Function rmw_get_implementation_identifier

• Function rmw_get_node_names

• Function rmw_get_node_names_with_enclaves

• Function rmw_get_publisher_names_and_types_by_node

• Function rmw_get_publishers_info_by_topic

• Function rmw_get_serialization_format

• Function rmw_get_serialized_message_size

• Function rmw_get_service_names_and_types

• Function rmw_get_service_names_and_types_by_node

• Function rmw_get_subscriber_names_and_types_by_node

• Function rmw_get_subscriptions_info_by_topic

• Function rmw_get_topic_names_and_types

• Function rmw_get_zero_initialized_content_filter_options

• Function rmw_get_zero_initialized_context

• Function rmw_get_zero_initialized_discovery_options

• Function rmw_get_zero_initialized_event

• Function rmw_get_zero_initialized_init_options

• Function rmw_get_zero_initialized_message_info

• Function rmw_get_zero_initialized_message_info_sequence

• Function rmw_get_zero_initialized_message_sequence

• Function rmw_get_zero_initialized_names_and_types

• Function rmw_get_zero_initialized_network_flow_endpoint

• Function rmw_get_zero_initialized_network_flow_endpoint_array

• Function rmw_get_zero_initialized_security_options

• Function rmw_get_zero_initialized_topic_endpoint_info

• Function rmw_get_zero_initialized_topic_endpoint_info_array

• Function rmw_guard_condition_allocate

• Function rmw_guard_condition_free

• Function rmw_init

• Function rmw_init_options_copy

• Function rmw_init_options_fini

• Function rmw_init_options_init

• Function rmw_init_publisher_allocation

• Function rmw_init_subscription_allocation

• Function rmw_message_info_sequence_fini

• Function rmw_message_info_sequence_init

• Function rmw_message_sequence_fini

• Function rmw_message_sequence_init

• Function rmw_names_and_types_check_zero

• Function rmw_names_and_types_fini

• Function rmw_names_and_types_init

• Function rmw_namespace_validation_result_string

• Function rmw_network_flow_endpoint_array_check_zero

• Function rmw_network_flow_endpoint_array_fini

• Function rmw_network_flow_endpoint_array_init

• Function rmw_network_flow_endpoint_get_internet_protocol_string

• Function rmw_network_flow_endpoint_get_transport_protocol_string

• Function rmw_network_flow_endpoint_set_internet_address

• Function rmw_node_allocate

• Function rmw_node_assert_liveliness

• Function rmw_node_free

• Function rmw_node_get_graph_guard_condition

• Function rmw_node_name_validation_result_string

• Function rmw_publish

• Function rmw_publish_loaned_message

• Function rmw_publish_serialized_message

• Function rmw_publisher_allocate

• Function rmw_publisher_assert_liveliness

• Function rmw_publisher_count_matched_subscriptions

• Function rmw_publisher_event_init

• Function rmw_publisher_free

• Function rmw_publisher_get_actual_qos

• Function rmw_publisher_get_network_flow_endpoints

• Function rmw_publisher_wait_for_all_acked

• Function rmw_qos_durability_policy_from_str

• Function rmw_qos_durability_policy_to_str

• Function rmw_qos_history_policy_from_str

• Function rmw_qos_history_policy_to_str

• Function rmw_qos_liveliness_policy_from_str

• Function rmw_qos_liveliness_policy_to_str

• Function rmw_qos_policy_kind_from_str

• Function rmw_qos_policy_kind_to_str

• Function rmw_qos_profile_check_compatible

• Function rmw_qos_reliability_policy_from_str

• Function rmw_qos_reliability_policy_to_str

• Function rmw_return_loaned_message_from_publisher

• Function rmw_return_loaned_message_from_subscription

• Function rmw_security_options_copy

• Function rmw_security_options_fini

• Function rmw_security_options_set_root_path

• Function rmw_send_request

• Function rmw_send_response

• Function rmw_serialization_support_init

• Function rmw_serialize

• Function rmw_service_allocate

• Function rmw_service_free

• Function rmw_service_request_subscription_get_actual_qos

• Function rmw_service_response_publisher_get_actual_qos

• Function rmw_service_server_is_available

• Function rmw_service_set_on_new_request_callback

• Function rmw_set_log_severity

• Function rmw_shutdown

• Function rmw_subscription_allocate

• Function rmw_subscription_content_filter_options_copy

• Function rmw_subscription_content_filter_options_fini

• Function rmw_subscription_content_filter_options_init

• Function rmw_subscription_content_filter_options_set

• Function rmw_subscription_count_matched_publishers

• Function rmw_subscription_event_init

• Function rmw_subscription_free

• Function rmw_subscription_get_actual_qos

• Function rmw_subscription_get_content_filter

• Function rmw_subscription_get_network_flow_endpoints

• Function rmw_subscription_set_content_filter

• Function rmw_subscription_set_on_new_message_callback

• Function rmw_take

• Function rmw_take_dynamic_message

• Function rmw_take_dynamic_message_with_info

• Function rmw_take_event

• Function rmw_take_loaned_message

• Function rmw_take_loaned_message_with_info

• Function rmw_take_request

• Function rmw_take_response

• Function rmw_take_sequence

• Function rmw_take_serialized_message

• Function rmw_take_serialized_message_with_info

• Function rmw_take_with_info

• Function rmw_time_equal

• Function rmw_time_from_nsec

• Function rmw_time_normalize

• Function rmw_time_total_nsec

• Function rmw_topic_endpoint_info_array_check_zero

• Function rmw_topic_endpoint_info_array_fini

• Function rmw_topic_endpoint_info_array_init_with_size

• Function rmw_topic_endpoint_info_fini

• Function rmw_topic_endpoint_info_set_endpoint_type

• Function rmw_topic_endpoint_info_set_gid

• Function rmw_topic_endpoint_info_set_node_name

• Function rmw_topic_endpoint_info_set_node_namespace

• Function rmw_topic_endpoint_info_set_qos_profile

• Function rmw_topic_endpoint_info_set_topic_type

• Function rmw_topic_endpoint_info_set_topic_type_hash

• Function rmw_trigger_guard_condition

• Function rmw_validate_full_topic_name

• Function rmw_validate_full_topic_name_with_size

• Function rmw_validate_namespace

• Function rmw_validate_namespace_with_size

• Function rmw_validate_node_name

• Function rmw_validate_node_name_with_size

• Function rmw_wait

• Function rmw_wait_set_allocate

• Function rmw_wait_set_free

Variables

• Variable rmw_qos_profile_best_available

• Variable rmw_qos_profile_default

• Variable rmw_qos_profile_parameter_events

• Variable rmw_qos_profile_parameters

• Variable rmw_qos_profile_sensor_data

• Variable rmw_qos_profile_services_default

• Variable rmw_qos_profile_system_default

• Variable rmw_qos_profile_unknown

Defines

• Define RMW_AVOID_MEMORY_ALLOCATION

• Define RMW_CHECK_ARGUMENT_FOR_NULL

• Define RMW_CHECK_FOR_NULL_WITH_MSG

• Define RMW_CHECK_TYPE_IDENTIFIERS_MATCH

• Define RMW_DECLARE_DEPRECATED

• Define RMW_DEFAULT_DOMAIN_ID

• Define RMW_DISCOVERY_OPTIONS_STATIC_PEERS_MAX_LENGTH

• Define RMW_DURATION_INFINITE

• Define RMW_DURATION_UNSPECIFIED

• Define rmw_error_is_set

• Define RMW_EXPORT

• Define rmw_get_error_state

• Define rmw_get_error_string

• Define rmw_get_zero_initialized_serialized_message

• Define RMW_GID_STORAGE_SIZE

• Define RMW_IMPORT

• Define RMW_INET_ADDRSTRLEN

• Define rmw_initialize_error_handling_thread_local_storage

• Define RMW_LOCAL

• Define RMW_MESSAGE_INFO_SEQUENCE_NUMBER_UNSUPPORTED

• Define RMW_NAMESPACE_INVALID_CONTAINS_REPEATED_FORWARD_SLASH

• Define RMW_NAMESPACE_INVALID_CONTAINS_UNALLOWED_CHARACTERS

• Define RMW_NAMESPACE_INVALID_ENDS_WITH_FORWARD_SLASH

• Define RMW_NAMESPACE_INVALID_IS_EMPTY_STRING

• Define RMW_NAMESPACE_INVALID_NAME_TOKEN_STARTS_WITH_NUMBER

• Define RMW_NAMESPACE_INVALID_NOT_ABSOLUTE

• Define RMW_NAMESPACE_INVALID_TOO_LONG

• Define RMW_NAMESPACE_MAX_LENGTH

• Define RMW_NAMESPACE_VALID

• Define RMW_NODE_NAME_INVALID_CONTAINS_UNALLOWED_CHARACTERS

• Define RMW_NODE_NAME_INVALID_IS_EMPTY_STRING

• Define RMW_NODE_NAME_INVALID_STARTS_WITH_NUMBER

• Define RMW_NODE_NAME_INVALID_TOO_LONG

• Define RMW_NODE_NAME_MAX_NAME_LENGTH

• Define RMW_NODE_NAME_VALID

• Define RMW_PUBLIC

• Define RMW_PUBLIC_TYPE

• Define RMW_QOS_DEADLINE_BEST_AVAILABLE

• Define RMW_QOS_DEADLINE_DEFAULT

• Define RMW_QOS_LIFESPAN_DEFAULT

• Define RMW_QOS_LIVELINESS_LEASE_DURATION_BEST_AVAILABLE

• Define RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT

• Define RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE_DEPRECATED_MSG

• Define rmw_reset_error

• Define RMW_RET_BAD_ALLOC

• Define RMW_RET_ERROR

• Define RMW_RET_INCORRECT_RMW_IMPLEMENTATION

• Define RMW_RET_INVALID_ARGUMENT

• Define RMW_RET_NODE_NAME_NON_EXISTENT

• Define RMW_RET_OK

• Define RMW_RET_TIMEOUT

• Define RMW_RET_UNSUPPORTED

• Define RMW_SAFE_FWRITE_TO_STDERR

• Define rmw_serialized_message_fini

• Define rmw_serialized_message_init

• Define rmw_serialized_message_resize

• Define RMW_SET_ERROR_MSG

• Define RMW_SET_ERROR_MSG_AND_APPEND_PREV_ERROR

• Define RMW_SET_ERROR_MSG_WITH_FORMAT_STRING

• Define RMW_SET_ERROR_MSG_WITH_FORMAT_STRING_AND_APPEND_PREV_ERROR

• Define rmw_set_error_state

• Define RMW_STRINGIFY

• Define RMW_TOPIC_INVALID_CONTAINS_REPEATED_FORWARD_SLASH

• Define RMW_TOPIC_INVALID_CONTAINS_UNALLOWED_CHARACTERS

• Define RMW_TOPIC_INVALID_ENDS_WITH_FORWARD_SLASH

• Define RMW_TOPIC_INVALID_IS_EMPTY_STRING

• Define RMW_TOPIC_INVALID_NAME_TOKEN_STARTS_WITH_NUMBER

• Define RMW_TOPIC_INVALID_NOT_ABSOLUTE

• Define RMW_TOPIC_INVALID_TOO_LONG

• Define RMW_TOPIC_MAX_NAME_LENGTH

• Define RMW_TOPIC_VALID

• Define RMW_TRY_DESTRUCTOR

• Define RMW_TRY_DESTRUCTOR_FROM_WITHIN_FAILURE

• Define RMW_TRY_PLACEMENT_NEW

• Define RMW_WARN_UNUSED

Typedefs

• Typedef rmw_automatic_discovery_range_t

• Typedef rmw_client_t

• Typedef rmw_clients_t

• Typedef rmw_context_impl_t

• Typedef rmw_context_t

• Typedef rmw_discovery_options_t

• Typedef rmw_duration_t

• Typedef rmw_endpoint_type_t

• Typedef rmw_error_state_t

• Typedef rmw_error_string_t

• Typedef rmw_event_callback_t

• Typedef rmw_event_t

• Typedef rmw_event_type_t

• Typedef rmw_events_t

• Typedef rmw_feature_t

• Typedef rmw_gid_t

• Typedef rmw_guard_condition_t

• Typedef rmw_guard_conditions_t

• Typedef rmw_incompatible_type_status_t

• Typedef rmw_init_options_impl_t

• Typedef rmw_init_options_t

• Typedef rmw_internet_protocol_t

• Typedef rmw_liveliness_changed_status_t

• Typedef rmw_liveliness_lost_status_t

• Typedef rmw_localhost_only_t

• Typedef rmw_matched_status_t

• Typedef rmw_message_info_sequence_t

• Typedef rmw_message_info_t

• Typedef rmw_message_lost_status_t

• Typedef rmw_message_sequence_t

• Typedef rmw_names_and_types_t

• Typedef rmw_network_flow_endpoint_array_t

• Typedef rmw_network_flow_endpoint_t

• Typedef rmw_node_t

• Typedef rmw_offered_deadline_missed_status_t

• Typedef rmw_offered_qos_incompatible_event_status_t

• Typedef rmw_peer_address_t

• Typedef rmw_publisher_allocation_t

• Typedef rmw_publisher_options_t

• Typedef rmw_publisher_t

• Typedef rmw_qos_compatibility_type_t

• Typedef rmw_qos_durability_policy_t

• Typedef rmw_qos_history_policy_t

• Typedef rmw_qos_incompatible_event_status_t

• Typedef rmw_qos_liveliness_policy_t

• Typedef rmw_qos_policy_kind_t

• Typedef rmw_qos_profile_t

• Typedef rmw_qos_reliability_policy_t

• Typedef rmw_request_id_t

• Typedef rmw_requested_deadline_missed_status_t

• Typedef rmw_requested_qos_incompatible_event_status_t

• Typedef rmw_ret_t

• Typedef rmw_security_enforcement_policy_t

• Typedef rmw_security_options_t

• Typedef rmw_serialized_message_t

• Typedef rmw_service_info_t

• Typedef rmw_service_t

• Typedef rmw_services_t

• Typedef rmw_subscription_allocation_t

• Typedef rmw_subscription_content_filter_options_t

• Typedef rmw_subscription_options_t

• Typedef rmw_subscription_t

• Typedef rmw_subscriptions_t

• Typedef rmw_time_point_value_t

• Typedef rmw_time_t

• Typedef rmw_topic_endpoint_info_array_t

• Typedef rmw_topic_endpoint_info_t

• Typedef rmw_transport_protocol_t

• Typedef rmw_unique_network_flow_endpoints_requirement_t

• Typedef rmw_wait_set_t

Directories

• Directory include

• Directory rmw

• Directory events_statuses

• Directory impl

• Directory cpp

Files

• File allocators.h

• File check_type_identifiers_match.h

• File config.h

• File convert_rcutils_ret_to_rmw_ret.h

• File demangle.hpp

• File discovery_options.h

• File domain_id.h

• File dynamic_message_type_support.h

• File error_handling.h

• File event.h

• File event_callback_type.h

• File events_statuses.h

• File features.h

• File get_network_flow_endpoints.h

• File get_node_info_and_types.h

• File get_service_names_and_types.h

• File get_topic_endpoint_info.h

• File get_topic_names_and_types.h

• File incompatible_qos.h

• File incompatible_qos_events_statuses.h

• File incompatible_type.h

• File init.h

• File init_options.h

• File key_value.hpp

• File liveliness_changed.h

• File liveliness_lost.h

• File localhost.h

• File macros.h

• File macros.hpp

• File matched.h

• File message_lost.h

• File message_sequence.h

• File names_and_types.h

• File network_flow_endpoint.h

• File network_flow_endpoint_array.h

• File offered_deadline_missed.h

• File publisher_options.h

• File qos_policy_kind.h

• File qos_profiles.h

• File qos_string_conversions.h

• File requested_deadline_missed.h

• File ret_types.h

• File rmw.h

• File sanity_checks.h

• File security_options.h

• File serialized_message.h

• File subscription_content_filter_options.h

• File subscription_options.h

• File time.h

• File topic_endpoint_info.h

• File topic_endpoint_info_array.h

• File types.h

• File validate_full_topic_name.h

• File validate_namespace.h

• File validate_node_name.h

• File visibility_control.h

Pages

• Deprecated List

• Todo List