Function rcl_borrow_loaned_message

• Defined in File publisher.h

Function Documentation

rcl_ret_t rcl_borrow_loaned_message(const rcl_publisher_t *publisher, const rosidl_message_type_support_t *type_support, void **ros_message)

Borrow a loaned message.

The memory allocated for the ros message belongs to the middleware and must not be deallocated other than by a call to

Attribute	Adherence
Allocates Memory	No [0]
Thread-Safe	No
Uses Atomics	No
Lock-Free	Yes

[0] the underlying middleware might allocate new memory or returns an existing chunk form a pool. The function in rcl however does not allocate any additional memory.

See also

rcl_return_loaned_message_from_publisher.

Parameters:

• publisher – [in] Publisher to which the allocated message is associated.

• type_support – [in] Typesupport to which the internal ros message is allocated.

• ros_message – [out] The pointer to be filled to a valid ros message by the middleware.

Returns:

RCL_RET_OK if the ros message was correctly initialized, or

Returns:

RCL_RET_PUBLISHER_INVALID if the passed publisher is invalid, or

Returns:

RCL_RET_INVALID_ARGUMENT if an argument other than the ros message is null, or

Returns:

RCL_RET_BAD_ALLOC if the ros message could not be correctly created, or

Returns:

RCL_RET_UNSUPPORTED if the middleware does not support that feature, or

Returns:

RCL_RET_ERROR if an unexpected error occured.