Function rcl_init

Function Documentation

rcl_ret_t rcl_init(int argc, char const *const *argv, const rcl_init_options_t *options, rcl_context_t *context)

Initialization of rcl.

This function can be run any number of times, so long as the given context has been properly prepared.

The given rcl_context_t must be zero initialized with the function rcl_get_zero_initialized_context() and must not be already initialized by this function. If the context is already initialized this function will fail and return the RCL_RET_ALREADY_INIT error code. A context may be initialized again after it has been finalized with the rcl_shutdown() function and zero initialized again with rcl_get_zero_initialized_context().

The argc and argv parameters may contain command line arguments for the program. rcl specific arguments will be parsed, but not removed. If argc is 0 and argv is NULL no parameters will be parsed.

The options argument must be non-NULL and must have been initialized with rcl_init_options_init(). It is unmodified by this function, and the ownership is not transfered to the context, but instead a copy is made into the context for later reference. Therefore, the given options need to be cleaned up with rcl_init_options_fini() after this function returns.

Attribute

Adherence

Allocates Memory

Yes

Thread-Safe

No

Uses Atomics

Yes

Lock-Free

Yes [1]

[1] if returns true for

Parameters:

  • argc – [in] number of strings in argv

  • argv – [in] command line arguments; rcl specific arguments are removed

  • options – [in] options used during initialization

  • context – [out] resulting context object that represents this init

Returns:

RCL_RET_OK if initialization is successful, or

Returns:

RCL_RET_ALREADY_INIT if rcl_init has already been called, or

Returns:

RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or

Returns:

RCL_RET_INVALID_ROS_ARGS if an invalid ROS argument is found, or

Returns:

RCL_RET_BAD_ALLOC if allocating memory failed, or

Returns:

RCL_RET_ERROR if an unspecified error occurs.