Function rcl_node_fini

Function Documentation

rcl_ret_t rcl_node_fini(rcl_node_t *node)

Finalize a rcl_node_t.

Destroys any automatically created infrastructure and deallocates memory. After calling, the rcl_node_t can be safely deallocated.

All middleware primitives created by the user, e.g. publishers, services, etc, which were created from this node must be finalized using their respective rcl_*_fini() functions before this is called.

Attribute

Adherence

Allocates Memory

Yes

Thread-Safe

No

Uses Atomics

Yes

Lock-Free

Yes [1]

[1] if returns true for

See also

rcl_publisher_fini()

See also

rcl_subscription_fini()

See also

rcl_client_fini()

See also

rcl_service_fini()

Parameters:

node – [in] rcl_node_t to be finalized

Returns:

RCL_RET_OK if node was finalized successfully, or

Returns:

RCL_RET_NODE_INVALID if the node pointer is null, or

Returns:

RCL_RET_ERROR if an unspecified error occurs.