Welcome to the documentation for rcl_interfaces
README
rcl_interfaces
This package contains the messages and services which ROS client libraries will use under the hood to communicate higher level concepts such as parameters.
For more information about ROS 2 interfaces, see docs.ros.org
Parameter Groups
Parameters are contained in groups. The default group is ‘/’. It behaves like a filepath, where you can nest sub-groups within groups.
For more information about parameters, see: design.ros2.org
Standard topics for parameters
The ROS API for a node will be as follows inside the node’s namespace.
Topics:
parameter_events:ParameterEventThis topic provides a way to subscribe to all parameter updates occurring on the node, including addition removal and changes in value. Every atomic change will be published separately.
parameter_event_descriptors:ParameterEventDescriptorsThis topic provides a way to subscribe to all parameter updates occurring on the node, including addition removal and changes in value. Every atomic change will be published separately. This is provided if large parameter values are expected to slow down the system.
Services:
get_parameters:GetParametersThe service to get the value of parameters which are set on this node.
has_parameters:HasParametersQuery this node if specific parameters are set.
list_parameters:ListParametersList the parameters on this node matching the filters.
set_parameters:SetParametersSet parameters on this node.
get_logger_levels:GetLoggerLevelsGet the logger levels of nodes which are in the same process space.
set_logger_levels:SetLoggerLevelsSet the logger levels of nodes which are in the same process space.
Messages (.msg)
FloatingPointRange: Represents bounds and a step value for a floating point typed parameter
IntegerRange: Represents bounds and a step value for an integer typed parameter
IntraProcessMessage: Demonstration message for passing around a pointer to shared memory.
ListParameterResult: This is the returned result of ListParameters service
Log: A message for communicating log messages and their levels
Parameter: A message for setting and getting parameter values
ParameterDescriptor: A more informational message about parameters and their values
ParameterEvent: For information regarding setting, changing or removing parameter events
ParameterEventDescriptors: Message describing parameter updates occurring on the node, including addition removal and changes in value
ParameterType: Enum definitions for denoting a parameter value’s type
ParameterValue: The associated value and type of a parameter
SetParameterResult: Result message indicating whether a set parameters event succeeded
SetLoggerLevelsResult: Result message indicating whether a set logger level event succeeded
Services (.srv)
DescribeParameters: Request a list of descriptions for a specified list of parameters.
GetParameters: Get the values of a specific list of parameters
GetParameterTypes: Get the enum type of a list of parameters
ListParameters: Get the list of parameters given a list of prefixes
SetParameters: Add or change a list of parameters individually
SetParametersAtomically: Add or change all parameters in a list or none at all
GetLoggerLevels: Get the logger levels of a specific list of nodes which are in the same process space
SetLoggerLevels: Change a list of logger levels of nodes which are in the same process space
Quality Declaration
This package claims to be in the Quality Level 1 category, see the Quality Declaration for more details.