Function rcl_client_get_rmw_handle

• Defined in File client.h

Function Documentation

rmw_client_t *rcl_client_get_rmw_handle(const rcl_client_t *client)

Return the rmw client handle.

The handle returned is a pointer to the internally held rmw handle. This function can fail, and therefore return NULL, if the:

• client is NULL

• client is invalid (never called init, called fini, or invalid node)

The returned handle is made invalid if the client is finalized or if rcl_shutdown() is called. The returned handle is not guaranteed to be valid for the life time of the client as it may be finalized and recreated itself. Therefore it is recommended to get the handle from the client using this function each time it is needed and avoid use of the handle concurrently with functions that might change it.

Attribute	Adherence
Allocates Memory	Yes
Thread-Safe	No
Uses Atomics	No
Lock-Free	Yes

Parameters:

client – [in] pointer to the rcl client

Returns:

rmw client handle if successful, otherwise NULL