C++ API

rclcpp_components: Package containing tools for dynamically loadable components.

• ComponentManager: Node to manage components. It has the services to load, unload and list current components.

  • rclcpp_components/component_manager.hpp)

• Node factory: The NodeFactory interface is used by the class loader to instantiate components.

  • rclcpp_components/node_factory.hpp)

  • It allows for classes not derived from rclcpp::Node to be used as components.

  • It allows derived constructors to be called when components are loaded.

Some useful abstractions and utilities:

• [RCLCPP_COMPONENTS_REGISTER_NODE: Register a component that can be dynamically loaded at runtime.

  • (include/rclcpp_components/register_node_macro.hpp)

Some useful internal abstractions and utilities:

• Macros for controlling symbol visibility on the library

  • rclcpp_components/visibility_control.h

Package containing CMake tools for register components:

• rclcpp_components_register_node Register an rclcpp component with the ament resource index and create an executable.

• rclcpp_components_register_nodes Register an rclcpp component with the ament resource index. The passed library can contain multiple nodes each registered via macro.

Class Hierarchy

• • Namespace rclcpp_components
    • Class ComponentManager
    • Class ComponentManagerException
    • Template Class ComponentManagerIsolated
      • Struct ComponentManagerIsolated::DedicatedExecutorWrapper
    • Class NodeFactory
    • Template Class NodeFactoryTemplate
    • Class NodeInstanceWrapper

File Hierarchy

• • Directory include
    • Directory rclcpp_components
      • File component_manager.hpp
      • File component_manager_isolated.hpp
      • File node_factory.hpp
      • File node_factory_template.hpp
      • File node_instance_wrapper.hpp
      • File register_node_macro.hpp
      • File visibility_control.hpp

Full C++ API

Namespaces

• Namespace class_loader

• Namespace rclcpp_components

Classes and Structs

• Struct ComponentManagerIsolated::DedicatedExecutorWrapper

• Class ComponentManager

• Class ComponentManagerException

• Template Class ComponentManagerIsolated

• Class NodeFactory

• Template Class NodeFactoryTemplate

• Class NodeInstanceWrapper

Defines

• Define RCLCPP_COMPONENTS_EXPORT

• Define RCLCPP_COMPONENTS_IMPORT

• Define RCLCPP_COMPONENTS_LOCAL

• Define RCLCPP_COMPONENTS_PUBLIC

• Define RCLCPP_COMPONENTS_PUBLIC_TYPE

• Define RCLCPP_COMPONENTS_REGISTER_NODE

Directories

• Directory include

• Directory rclcpp_components

Files

• File component_manager.hpp

• File component_manager_isolated.hpp

• File node_factory.hpp

• File node_factory_template.hpp

• File node_instance_wrapper.hpp

• File register_node_macro.hpp

• File visibility_control.hpp