Struct rmw_init_options_s

Struct Documentation

struct rmw_init_options_s

Options structure used during rmw_init().

Public Members

uint64_t instance_id

Locally (process local) unique ID that represents this init/shutdown cycle.

This should be set by the caller of rmw_init() to a number that is unique within this process. It is designed to be used with rcl_init() and rcl_get_instance_id().

const char *implementation_identifier

Implementation identifier, used to ensure two different implementations are not being mixed.

size_t domain_id

ROS domain id.

rmw_security_options_t security_options

Security options.

rmw_discovery_options_t discovery_options

Configure discovery.

char *enclave

Enclave, name used to find security artifacts in a sros2 keystore.

rcutils_allocator_t allocator

Allocator used during internal allocation of init options, if needed.

rmw_init_options_impl_t *impl

Implementation defined init options.

May be NULL if there are no implementation defined options.