init.h

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#ifndef ROSRT_INIT_H
#define ROSRT_INIT_H

#include <ros/macros.h>
#include <ros/types.h>
#include <ros/time.h>

namespace rosrt
{

struct InitOptions
{
  InitOptions()
  : pubmanager_queue_size(10000)
  , gc_queue_size(1000)
  , gc_period(0.1)
  {}

  uint32_t pubmanager_queue_size;
  uint32_t gc_queue_size;
  ros::WallDuration gc_period;
};

void init(const InitOptions& ops = InitOptions());
void shutdown();

} // namespace rosrt

#endif // ROSRT_INIT_H