Function rcl_node_get_domain_id

Function Documentation

rcl_ret_t rcl_node_get_domain_id(const rcl_node_t *node, size_t *domain_id)

Return the ROS domain ID that the node is using.

This function returns the ROS domain ID that the node is in.

This function should be used to determine what domain_id was used rather than checking the domain_id field in the node options, because if RCL_NODE_OPTIONS_DEFAULT_DOMAIN_ID is used when creating the node then it is not changed after creation, but this function will return the actual domain_id used.

The domain_id field must point to an allocated size_t object to which the ROS domain ID will be written.

Attribute

Adherence

Allocates Memory

No

Thread-Safe

No

Uses Atomics

No

Lock-Free

Yes

Parameters:

  • node – [in] the handle to the node being queried

  • domain_id – [out] storage for the domain id

Returns:

RCL_RET_OK if node the domain ID was retrieved successfully, or

Returns:

RCL_RET_NODE_INVALID if the node is invalid, or

Returns:

RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or

Returns:

RCL_RET_ERROR if an unspecified error occurs.