Function rclcpp::get_action_typesupport_handle

• Defined in File typesupport_helpers.hpp

Function Documentation

const rosidl_action_type_support_t *rclcpp::get_action_typesupport_handle(const std::string &type, const std::string &typesupport_identifier, rcpputils::SharedLibrary &library)

Extracts the action type support handle from the library.

Note

The library needs to match the action type. The shared library must stay loaded for the lifetime of the result.

Parameters:

• type – [in] The action type, e.g. “example_interfaces/action/Fibonacci”

• typesupport_identifier – [in] Type support identifier, typically “rosidl_typesupport_cpp”

• library – [in] The shared type support library

Throws:

std::runtime_error – if the symbol of type not found in the library.

Returns:

A action type support handle