Function rcl_subscription_set_on_new_message_callback

• Defined in File subscription.h

Function Documentation

rcl_ret_t rcl_subscription_set_on_new_message_callback(const rcl_subscription_t *subscription, rcl_event_callback_t callback, const void *user_data)

Set the on new message callback function for the subscription.

This API sets the callback function to be called whenever the subscription is notified about a new message.

Attribute	Adherence
Allocates Memory	No
Thread-Safe	Yes
Uses Atomics	Maybe [1]
Lock-Free	Maybe [1]

[1] rmw implementation defined

See also

rmw_subscription_set_on_new_message_callback for details about this function.

Parameters:

• subscription – [in] The subscription on which to set the callback

• callback – [in] The callback to be called when new messages arrive, may be NULL

• user_data – [in] Given to the callback when called later, may be NULL

Returns:

RCL_RET_OK if successful, or

Returns:

RCL_RET_INVALID_ARGUMENT if subscription is NULL, or

Returns:

RCL_RET_UNSUPPORTED if the API is not implemented in the dds implementation