Function rclcpp::init

• Defined in File utilities.hpp

Function Documentation

void rclcpp::init(int argc, char const *const *argv, const InitOptions &init_options = InitOptions(), SignalHandlerOptions signal_handler_options = SignalHandlerOptions::All)

Initialize communications via the rmw implementation and set up a global signal handler.

Initializes the global context which is accessible via the function rclcpp::contexts::get_global_default_context(). Also, installs the global signal handlers with the function rclcpp::install_signal_handlers().

See also

rclcpp::Context::init() for more details on arguments and possible exceptions

Parameters:

• argc – [in] number of command-line arguments to parse.

• argv – [in] array of command-line arguments to parse.

• init_options – [in] initialization options to apply.

• signal_handler_options – [in] option to indicate which signal handlers should be installed.