rosidl_typesupport_fastrtps_cpp features

Empy Generated Files

rosidl_typesupport_fastrtps_cpp provides a Python generator executable rosidl_typesupport_fastrtps_cpp, based on Empy to create rosidl C source files for use with eProsima’s FastRTPS.

The templates utilized by this generator executable are located in resource directory and generate both headers and sources for messages and services. It does not generate separate files for actions.

The generator also generates a visibility_control header based on https://gcc.gnu.org/wiki/Visibility.

Non-Generated helper files

rosidl_typesupport_fastrtps_cpp defines a typesupport identifier, which is declared in identifier.hpp.

rosidl_typesupport_fastrtps_cpp provides the following functionality for incorporation into generated typesupport source files.

• wstring_conversion.hpp: Simple conversion functions from u16string types to wstring and vice versa.

rosidl_typesupport_fastrtps_cpp includes definitions for type support callback structs. They are defined for both messages and services in message_type_support.h and service_type_support.h respectively.

rosidl_typesupport_fastrtps_cpp also defines several headers that declare simple handle getter functions for rosidl types that are implemented in the generated source files. They are defined for messages and services in message_type_support_decl.hpp and service_type_support_decl.hpp respectively.