rosidl_runtime_c Features

Primitive sequence definitions initializations and finalizations

rosidl_runtime_c provides default definitions, as well as initialization and finalization functions for the supported rosidl primitive sequence types. These functions are defined in the following headers:

• primitives_sequence.h: C struct definitions for all supported primitive sequence types.

• primitive_sequence_functions.h: initialization and finalization functionality for the above defined sequences.

• sequence_bound.h: Struct designed to track the upper bounds size of a sequence. Currently unused.

String and u16string definitions, initializations and finalizations

Like the sequences described above, rosidl_runtime_c provides definitions, as well as initialization and finalization functions for 8-bit and 16-bit character strings.

• string.h: C struct definition for an 8-bit string.

• string_functions.h: initialization and finalization functionality for the rosidl 8-bit string.

• string_bound.h: Designed to track the upper bounds size of a string. Currently unused.

• u16string.h: C struct definition for a 16-bit string.

• u16string_functions.h: initialization and finalization functionality for the rosidl 16-bit string.

Typesupport structs

This package defines several structs which are utilized for providing access to properties and functionality of different rosidl types. They are defined for the three main ROS 2 rosidl types:

• Messages (message_type_support_struct.h)

• Services (service_type_support_struct.h)

• Actions (action_type_support_struct.h)