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)

Extract the action type support handle from the library.

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