C++ API

rclcpp: ROS Client Library for C++

rclcpp provides the canonical C++ API for interacting with ROS. It consists of these main components:

• Node

  • rclcpp::Node

  • rclcpp/node.hpp

• Publisher

  • rclcpp::Node::create_publisher()

  • rclcpp::Publisher

  • rclcpp::Publisher::publish()

  • rclcpp/publisher.hpp

• Subscription

  • rclcpp::Node::create_subscription()

  • rclcpp::Subscription

  • rclcpp/subscription.hpp

• Service Client

  • rclcpp::Node::create_client()

  • rclcpp::Client

  • rclcpp/client.hpp

• Service Server

  • rclcpp::Node::create_service()

  • rclcpp::Service

  • rclcpp/service.hpp

• Timer

  • rclcpp::Node::create_wall_timer()

  • rclcpp::WallTimer

  • rclcpp::TimerBase

  • rclcpp/timer.hpp

• Parameters:

  • rclcpp::Node::set_parameters()

  • rclcpp::Node::get_parameters()

  • rclcpp::Node::get_parameter()

  • rclcpp::Node::describe_parameters()

  • rclcpp::Node::list_parameters()

  • rclcpp::Node::add_on_set_parameters_callback()

  • rclcpp::Node::remove_on_set_parameters_callback()

  • rclcpp::Parameter

  • rclcpp::ParameterValue

  • rclcpp::AsyncParametersClient

  • rclcpp::SyncParametersClient

  • rclcpp/parameter.hpp

  • rclcpp/parameter_value.hpp

  • rclcpp/parameter_client.hpp

  • rclcpp/parameter_service.hpp

• Rate:

  • rclcpp::Rate

  • rclcpp::WallRate

  • rclcpp/rate.hpp

There are also some components which help control the execution of callbacks:

• Executors (responsible for execution of callbacks through a blocking spin):

  • rclcpp::spin()

  • rclcpp::spin_some()

  • rclcpp::spin_until_future_complete()

  • rclcpp::executors::SingleThreadedExecutor

  • rclcpp::executors::SingleThreadedExecutor::add_node()

  • rclcpp::executors::SingleThreadedExecutor::spin()

  • rclcpp::executors::MultiThreadedExecutor

  • rclcpp::executors::MultiThreadedExecutor::add_node()

  • rclcpp::executors::MultiThreadedExecutor::spin()

  • rclcpp/executor.hpp

  • rclcpp/executors.hpp

  • rclcpp/executors/single_threaded_executor.hpp

  • rclcpp/executors/multi_threaded_executor.hpp

• CallbackGroups (mechanism for enforcing concurrency rules for callbacks):

  • rclcpp::Node::create_callback_group()

  • rclcpp::CallbackGroup

  • rclcpp/callback_group.hpp

Additionally, there are some methods for introspecting the ROS graph:

• Graph Events (a waitable event object that wakes up when the graph changes):

  • rclcpp::Node::get_graph_event()

  • rclcpp::Node::wait_for_graph_change()

  • rclcpp::Event

• List topic names and types:

  • rclcpp::Node::get_topic_names_and_types()

• Get the number of publishers or subscribers on a topic:

  • rclcpp::Node::count_publishers()

  • rclcpp::Node::count_subscribers()

And components related to logging:

• Logging macros:

  • Some examples (not exhaustive):

    • RCLCPP_DEBUG()

    • RCLCPP_INFO()

    • RCLCPP_WARN_ONCE()

    • RCLCPP_ERROR_SKIPFIRST()

  • rclcpp/logging.hpp

• Logger:

  • rclcpp::Logger

  • rclcpp/logger.hpp

  • rclcpp::Node::get_logger()

Finally, there are many internal API’s and utilities:

• Exceptions:

  • rclcpp/exceptions.hpp

• Allocator related items:

  • rclcpp/allocator/allocator_common.hpp

  • rclcpp/allocator/allocator_deleter.hpp

• Dynamic typesupport wrappers

  • rclcpp::dynamic_typesupport::DynamicMessage

  • rclcpp::dynamic_typesupport::DynamicMessageType

  • rclcpp::dynamic_typesupport::DynamicMessageTypeBuilder

  • rclcpp::dynamic_typesupport::DynamicSerializationSupport

  • rclcpp/dynamic_typesupport/dynamic_message.hpp

  • rclcpp/dynamic_typesupport/dynamic_message_type.hpp

  • rclcpp/dynamic_typesupport/dynamic_message_type_builder.hpp

  • rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp

• Dynamic typesupport

  • rclcpp::dynamic_typesupport::DynamicMessageTypeSupport

  • rclcpp/dynamic_typesupport/dynamic_message_type_support.hpp

• Generic publisher

  • rclcpp::Node::create_generic_publisher()

  • rclcpp::GenericPublisher

  • rclcpp::GenericPublisher::publish()

  • rclcpp/generic_publisher.hpp

• Generic subscription

  • rclcpp::Node::create_generic_subscription()

  • rclcpp::GenericSubscription

  • rclcpp/generic_subscription.hpp

• Memory management tools:

  • rclcpp/memory_strategies.hpp

  • rclcpp/memory_strategy.hpp

  • rclcpp/message_memory_strategy.hpp

  • rclcpp/strategies/allocator_memory_strategy.hpp

  • rclcpp/strategies/message_pool_memory_strategy.hpp

• Context object which is shared amongst multiple Nodes:

  • rclcpp::Context

  • rclcpp/context.hpp

  • rclcpp/contexts/default_context.hpp

• Various utilities:

  • rclcpp/duration.hpp

  • rclcpp/function_traits.hpp

  • rclcpp/macros.hpp

  • rclcpp/time.hpp

  • rclcpp/utilities.hpp

  • rclcpp/typesupport_helpers.hpp

  • rclcpp/visibility_control.hpp

Page Hierarchy

• • README
  • README
  • Deprecated List
  • Todo List

Full C++ API

Namespaces

• Namespace rclcpp

• Namespace rclcpp::allocator

• Namespace rclcpp::contexts

• Namespace rclcpp::detail

• Namespace rclcpp::dynamic_typesupport

• Namespace rclcpp::exceptions

• Namespace rclcpp::executors

• Namespace rclcpp::experimental

• Namespace rclcpp::experimental::buffers

• Namespace rclcpp::experimental::executors

• Namespace rclcpp::function_traits

• Namespace rclcpp::function_traits::detail

• Namespace rclcpp::graph_listener

• Namespace rclcpp::memory_strategies

• Namespace rclcpp::memory_strategies::allocator_memory_strategy

• Namespace rclcpp::memory_strategy

• Namespace rclcpp::message_memory_strategy

• Namespace rclcpp::node_interfaces

• Namespace rclcpp::node_interfaces::detail

• Namespace rclcpp::serialization_traits

• Namespace rclcpp::strategies

• Namespace rclcpp::strategies::message_pool_memory_strategy

• Namespace rclcpp::subscription_traits

• Namespace rclcpp::topic_statistics

• Namespace rclcpp::type_support

• Namespace rclcpp::wait_set_policies

• Namespace rclcpp::wait_set_policies::detail

• Namespace std

Classes and Structs

• Template Struct adapt_type

• Struct AnyExecutable

• Template Struct AnySubscriptionCallback::NotNull

• Struct Client::FutureAndRequestId

• Struct Client::SharedFutureAndRequestId

• Struct Client::SharedFutureWithRequestAndRequestId

• Struct ContentFilterOptions

• Template Struct AnySubscriptionCallbackHelper

• Template Struct AnySubscriptionCallbackHelper< MessageT, AllocatorT, false >

• Template Struct AnySubscriptionCallbackHelper< MessageT, AllocatorT, true >

• Template Struct AnySubscriptionCallbackPossibleTypes

• Template Struct assert_type_pair_is_specialized_type_adapter

• Template Struct can_be_nullptr

• Template Struct can_be_nullptr< T, std::void_t< decltype(std::declval< T >, ()==nullptr), decltype(std::declval< T & >, ()=nullptr) > >

• Template Struct FutureAndRequestId

• Template Struct MessageDeleterHelper

• Struct PublisherQosParametersTraits

• Template Struct SubscriptionCallbackTypeHelper

• Template Struct SubscriptionCallbackTypeHelper< MessageT, CallbackT, typename std::enable_if_t< rclcpp::function_traits::same_arguments< CallbackT, std::function< void(const std::shared_ptr< const MessageT >, &) > >::value > >

• Template Struct SubscriptionCallbackTypeHelper< MessageT, CallbackT, typename std::enable_if_t< rclcpp::function_traits::same_arguments< CallbackT, std::function< void(const std::shared_ptr< const MessageT >, &, const rclcpp::MessageInfo &) > >::value > >

• Template Struct SubscriptionCallbackTypeHelper< MessageT, CallbackT, typename std::enable_if_t< rclcpp::function_traits::same_arguments< CallbackT, std::function< void(std::shared_ptr< const MessageT >, ) > >::value > >

• Template Struct SubscriptionCallbackTypeHelper< MessageT, CallbackT, typename std::enable_if_t< rclcpp::function_traits::same_arguments< CallbackT, std::function< void(std::shared_ptr< const MessageT >, const rclcpp::MessageInfo &) > >::value > >

• Template Struct SubscriptionCallbackTypeHelper< MessageT, CallbackT, typename std::enable_if_t< rclcpp::function_traits::same_arguments< CallbackT, std::function< void(std::shared_ptr< MessageT >, ) > >::value > >

• Template Struct SubscriptionCallbackTypeHelper< MessageT, CallbackT, typename std::enable_if_t< rclcpp::function_traits::same_arguments< CallbackT, std::function< void(std::shared_ptr< MessageT >, const rclcpp::MessageInfo &) > >::value > >

• Struct SubscriptionQosParametersTraits

• Template Struct template_contains

• Template Struct template_contains< T >

• Template Struct template_contains< T, NextT, Us … >

• Template Struct template_unique

• Template Struct template_unique< NextT, Ts … >

• Template Struct template_unique< T >

• Struct ExecutorOptions

• Template Struct CollectionEntry

• Struct ExecutorEntitiesCollection

• Struct ExecutorEvent

• Struct IntraProcessManager::SplittedSubscriptions

• Template Struct arity_comparator

• Template Struct as_std_function

• Template Struct check_arguments

• Template Struct as_std_function_helper

• Template Struct as_std_function_helper< ReturnTypeT, std::tuple< Args … > >

• Template Struct function_traits

• Template Struct function_traits< FunctionT & >

• Template Struct function_traits< FunctionT && >

• Template Struct function_traits< ReturnTypeT(*)(Args …) >

• Template Struct function_traits< ReturnTypeT(Args …) >

• Template Struct function_traits< ReturnTypeT(ClassT::*)(Args …) const >

• Template Struct function_traits< std::bind< ReturnTypeT(&)(Args …), FArgs … > >

• Template Struct function_traits< std::bind< ReturnTypeT(ClassT::*)(Args …) const, FArgs … > >

• Template Struct function_traits< std::bind< ReturnTypeT(ClassT::*)(Args …), FArgs … > >

• Template Struct same_arguments

• Template Struct tuple_tail

• Template Struct tuple_tail< std::tuple< Head, Tail … > >

• Template Struct ImplicitTypeAdapter

• Template Struct is_ros_compatible_type

• Template Struct is_type_adapter

• Template Struct is_type_adapter< TypeAdapter< Ts… > >

• Struct KeepAll

• Struct KeepLast

• Template Struct NodeInterfacesStorage

• Template Struct NodeInterfacesSupportCheck

• Template Struct NodeInterfacesSupportCheck< StorageClassT >

• Template Struct NodeInterfacesSupportCheck< StorageClassT, NextInterfaceT, RemainingInterfaceTs … >

• Template Struct NodeInterfacesSupports

• Template Struct NodeInterfacesSupports< StorageClassT >

• Struct OnSetParametersCallbackHandle

• Struct ParameterInfo

• Struct PostSetParametersCallbackHandle

• Struct PreSetParametersCallbackHandle

• Struct ParameterCallbackHandle

• Struct ParameterEventCallbackHandle

• Struct ParameterEventHandler::Callbacks

• Struct PublisherEventCallbacks

• Struct PublisherFactory

• Struct PublisherOptionsBase

• Template Struct PublisherOptionsWithAllocator

• Struct QoSCheckCompatibleResult

• Struct QoSInitialization

• Template Struct is_serialized_message_class

• Template Struct is_serialized_message_class< SerializedMessage >

• Struct MessagePoolMemoryStrategy::PoolMember

• Template Struct extract_message_type

• Template Struct extract_message_type< std::shared_ptr< MessageT > >

• Template Struct extract_message_type< std::unique_ptr< MessageT, Deleter > >

• Template Struct has_message_type

• Template Struct is_serialized_callback

• Template Struct is_serialized_subscription

• Template Struct is_serialized_subscription_argument

• Template Struct is_serialized_subscription_argument< SerializedMessage >

• Template Struct is_serialized_subscription_argument< std::shared_ptr< SerializedMessage > >

• Struct SubscriptionEventCallbacks

• Struct SubscriptionFactory

• Struct SubscriptionOptionsBase

• Struct SubscriptionOptionsBase::TopicStatisticsOptions

• Template Struct SubscriptionOptionsWithAllocator

• Template Struct TypeAdapter

• Template Struct TypeAdapter< T, void, std::enable_if_t< ImplicitTypeAdapter< T >::is_specialized::value > >

• Template Struct TypeAdapter< T, void, std::enable_if_t< is_type_adapter< T >::value > >

• Struct StaticStorage::WaitableEntry

• Template Class AllocatorDeleter

• Template Class AnyServiceCallback

• Template Class AnySubscriptionCallback

• Class AsyncParametersClient

• Class BestAvailableQoS

• Class CallbackGroup

• Template Class Client

• Class ClientBase

• Class Clock

• Class ClockQoS

• Class Context

• Class ContextAlreadyInitialized

• Class DefaultContext

• Template Class QosParameters

• Class RMWImplementationSpecificPayload

• Class RMWImplementationSpecificPublisherPayload

• Class RMWImplementationSpecificSubscriptionPayload

• Class Duration

• Class DynamicMessage

• Class DynamicMessageType

• Class DynamicMessageTypeBuilder

• Class DynamicMessageTypeSupport

• Class DynamicSerializationSupport

• Class Event

• Template Class EventHandler

• Class EventHandlerBase

• Class EventNotRegisteredError

• Class InvalidEventError

• Class InvalidNamespaceError

• Class InvalidNodeError

• Class InvalidNodeNameError

• Class InvalidParametersException

• Class InvalidParameterTypeException

• Class InvalidParameterValueException

• Class InvalidQosOverridesException

• Class InvalidServiceNameError

• Class InvalidTopicNameError

• Class NameValidationError

• Class ParameterAlreadyDeclaredException

• Class ParameterImmutableException

• Class ParameterModifiedInCallbackException

• Class ParameterNotDeclaredException

• Class ParameterUninitializedException

• Class QoSCheckCompatibleException

• Class RCLBadAlloc

• Class RCLError

• Class RCLErrorBase

• Class RCLInvalidArgument

• Class RCLInvalidROSArgsError

• Class UnimplementedError

• Class UninitializedStaticallyTypedParameterException

• Class UnknownROSArgsError

• Class Executor

• Template Class EntityCollection

• Class ExecutorEntitiesCollector

• Class ExecutorNotifyWaitable

• Class MultiThreadedExecutor

• Class SingleThreadedExecutor

• Class StaticExecutorEntitiesCollector

• Class StaticSingleThreadedExecutor

• Template Class BufferImplementationBase

• Template Class IntraProcessBuffer

• Class IntraProcessBufferBase

• Template Class RingBufferImplementation

• Template Class TypedIntraProcessBuffer

• Class ExecutableList

• Class EventsExecutor

• Class EventsQueue

• Class SimpleEventsQueue

• Class IntraProcessManager

• Template Class SubscriptionIntraProcess

• Class SubscriptionIntraProcessBase

• Template Class SubscriptionIntraProcessBuffer

• Template Class SubscriptionROSMsgIntraProcessBuffer

• Class TimersManager

• Class TimersManager::TimersHeap

• Class TimersManager::WeakTimersHeap

• Class GenericPublisher

• Template Class GenericRate

• Class GenericSubscription

• Template Class GenericTimer

• Class GraphListener

• Class GraphListenerShutdownError

• Class NodeAlreadyAddedError

• Class NodeNotFoundError

• Class GuardCondition

• Class InitOptions

• Class JumpHandler

• Template Class LoanedMessage

• Class Logger

• Template Class AllocatorMemoryStrategy

• Class MemoryStrategy

• Template Class MessageMemoryStrategy

• Class MessageInfo

• Class NetworkFlowEndpoint

• Class Node

• Class NodeBase

• Class NodeBaseInterface

• Class NodeClock

• Class NodeClockInterface

• Class NodeGraph

• Class NodeGraphInterface

• Template Class NodeInterfaces

• Class NodeLogging

• Class NodeLoggingInterface

• Class NodeParameters

• Class NodeParametersInterface

• Class NodeServices

• Class NodeServicesInterface

• Class NodeTimers

• Class NodeTimersInterface

• Class NodeTimeSource

• Class NodeTimeSourceInterface

• Class NodeTopics

• Class NodeTopicsInterface

• Class NodeTypeDescriptions

• Class NodeTypeDescriptionsInterface

• Class NodeWaitables

• Class NodeWaitablesInterface

• Class ParameterMutationRecursionGuard

• Class NodeOptions

• Class Parameter

• Class ParameterEventHandler

• Class ParameterEventHandler::StringPairHash

• Class ParameterEventsFilter

• Class ParameterEventsQoS

• Class ParameterService

• Class ParametersQoS

• Class ParameterTypeException

• Class ParameterValue

• Template Class Publisher

• Class PublisherBase

• Class QoS

• Class QosOverridingOptions

• Class RateBase

• Class RosoutQoS

• Class SensorDataQoS

• Template Class Serialization

• Class SerializationBase

• Class SerializedMessage

• Template Class Service

• Class ServiceBase

• Class ServicesQoS

• Class ShutdownCallbackHandle

• Template Class MessagePoolMemoryStrategy

• Template Class Subscription

• Class SubscriptionBase

• Class SubscriptionWaitSetMask

• Class SyncParametersClient

• Class SystemDefaultsQoS

• Class Time

• Class TimerBase

• Class TimeSource

• Template Class SubscriptionTopicStatistics

• Class TopicEndpointInfo

• Class UnsupportedEventTypeException

• Template Class StoragePolicyCommon

• Class SynchronizationPolicyCommon

• Class WritePreferringReadWriteLock

• Class WritePreferringReadWriteLock::ReadMutex

• Class WritePreferringReadWriteLock::WriteMutex

• Class DynamicStorage

• Class DynamicStorage::SubscriptionEntry

• Class DynamicStorage::WaitableEntry

• Class DynamicStorage::WeakSubscriptionEntry

• Class DynamicStorage::WeakWaitableEntry

• Class SequentialSynchronization

• Template Class StaticStorage

• Class StaticStorage::SubscriptionEntry

• Class ThreadSafeSynchronization

• Class Waitable

• Template Class WaitResult

• Template Class WaitSetTemplate

• Template Class WallTimer

Enums

• Enum CallbackGroupType

• Enum DeliveredMessageKind

• Enum DurabilityPolicy

• Enum EndpointType

• Enum ExecutorEventType

• Enum FutureReturnCode

• Enum HistoryPolicy

• Enum IntraProcessBufferType

• Enum IntraProcessSetting

• Enum LivelinessPolicy

• Enum ParameterType

• Enum QoSCompatibility

• Enum QosPolicyKind

• Enum ReliabilityPolicy

• Enum SignalHandlerOptions

• Enum TopicStatisticsState

• Enum WaitResultKind

Functions

• Function rclcpp::_to_json_dict_entry

• Template Function rclcpp::add_will_overflow

• Template Function rclcpp::add_will_underflow

• Template Function rclcpp::allocator::get_rcl_allocator

• Template Function rclcpp::allocator::retyped_allocate

• Template Function rclcpp::allocator::retyped_deallocate

• Template Function rclcpp::allocator::retyped_reallocate

• Template Function rclcpp::allocator::retyped_zero_allocate

• Template Function rclcpp::allocator::set_allocator_for_deleter(D *, Alloc *)

• Template Function rclcpp::allocator::set_allocator_for_deleter(std::default_delete<T> *, std::allocator<U> *)

• Template Function rclcpp::allocator::set_allocator_for_deleter(AllocatorDeleter<T> *, Alloc *)

• Function rclcpp::contexts::get_global_default_context

• Template Function rclcpp::create_client(std::shared_ptr<node_interfaces::NodeBaseInterface>, std::shared_ptr<node_interfaces::NodeGraphInterface>, std::shared_ptr<node_interfaces::NodeServicesInterface>, const std::string&, const rclcpp::QoS&, rclcpp::CallbackGroup::SharedPtr)

• Template Function rclcpp::create_client(std::shared_ptr<node_interfaces::NodeBaseInterface>, std::shared_ptr<node_interfaces::NodeGraphInterface>, std::shared_ptr<node_interfaces::NodeServicesInterface>, const std::string&, const rmw_qos_profile_t&, rclcpp::CallbackGroup::SharedPtr)

• Template Function rclcpp::create_generic_publisher

• Template Function rclcpp::create_generic_subscription

• Template Function rclcpp::create_publisher(NodeT&&, const std::string&, const rclcpp::QoS&, const rclcpp::PublisherOptionsWithAllocator<AllocatorT>&)

• Template Function rclcpp::create_publisher(rclcpp::node_interfaces::NodeParametersInterface::SharedPtr&, rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr&, const std::string&, const rclcpp::QoS&, const rclcpp::PublisherOptionsWithAllocator<AllocatorT>&)

• Template Function rclcpp::create_publisher_factory

• Template Function rclcpp::create_service(std::shared_ptr<node_interfaces::NodeBaseInterface>, std::shared_ptr<node_interfaces::NodeServicesInterface>, const std::string&, CallbackT&&, const rclcpp::QoS&, rclcpp::CallbackGroup::SharedPtr)

• Template Function rclcpp::create_service(std::shared_ptr<node_interfaces::NodeBaseInterface>, std::shared_ptr<node_interfaces::NodeServicesInterface>, const std::string&, CallbackT&&, const rmw_qos_profile_t&, rclcpp::CallbackGroup::SharedPtr)

• Template Function rclcpp::create_subscription(NodeT&, const std::string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr)

• Template Function rclcpp::create_subscription(rclcpp::node_interfaces::NodeParametersInterface::SharedPtr&, rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr&, const std::string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr)

• Template Function rclcpp::create_subscription_factory

• Template Function rclcpp::create_timer(std::shared_ptr<node_interfaces::NodeBaseInterface>, std::shared_ptr<node_interfaces::NodeTimersInterface>, rclcpp::Clock::SharedPtr, rclcpp::Duration, CallbackT&&, rclcpp::CallbackGroup::SharedPtr)

• Template Function rclcpp::create_timer(NodeT, rclcpp::Clock::SharedPtr, rclcpp::Duration, CallbackT&&, rclcpp::CallbackGroup::SharedPtr)

• Template Function rclcpp::create_timer(rclcpp::Clock::SharedPtr, std::chrono::duration<DurationRepT, DurationT>, CallbackT, rclcpp::CallbackGroup::SharedPtr, node_interfaces::NodeBaseInterface *, node_interfaces::NodeTimersInterface *)

• Template Function rclcpp::create_wall_timer

• Function rclcpp::detail::add_guard_condition_to_rcl_wait_set

• Function rclcpp::detail::apply_qos_override

• Function rclcpp::detail::check_if_stringified_policy_is_null

• Template Function rclcpp::detail::cpp_callback_trampoline

• Template Function rclcpp::detail::create_publisher

• Template Function rclcpp::detail::create_subscription

• Function rclcpp::detail::declare_parameter_or_get

• Template Function rclcpp::detail::declare_qos_parameters

• Function rclcpp::detail::get_default_qos_param_value

• Function rclcpp::detail::get_unparsed_ros_arguments

• Template Function rclcpp::detail::get_value_helper

• Specialized Template Function rclcpp::detail::get_value_helper< rclcpp::Parameter >

• Specialized Template Function rclcpp::detail::get_value_helper< rclcpp::ParameterValue >

• Template Function rclcpp::detail::resolve_enable_topic_statistics

• Template Function rclcpp::detail::resolve_intra_process_buffer_type

• Template Function rclcpp::detail::resolve_use_intra_process

• Function rclcpp::detail::rmw_duration_to_int64_t

• Template Function rclcpp::detail::safe_cast_to_period_in_ns

• Function rclcpp::exceptions::throw_from_rcl_error

• Function rclcpp::executors::build_entities_collection

• Function rclcpp::executors::ready_executables

• Template Function rclcpp::executors::spin_node_until_future_complete(rclcpp::Executor&, rclcpp::node_interfaces::NodeBaseInterface::SharedPtr, const FutureT&, std::chrono::duration<TimeRepT, TimeT>)

• Template Function rclcpp::executors::spin_node_until_future_complete(rclcpp::Executor&, std::shared_ptr<NodeT>, const FutureT&, std::chrono::duration<TimeRepT, TimeT>)

• Template Function rclcpp::executors::update_entities

• Function rclcpp::expand_topic_or_service_name

• Template Function rclcpp::experimental::create_intra_process_buffer

• Function rclcpp::extend_name_with_sub_namespace

• Function rclcpp::get_c_string(const char *)

• Function rclcpp::get_c_string(const std::string&)

• Function rclcpp::get_c_vector_string

• Function rclcpp::get_contexts

• Function rclcpp::get_current_signal_handler_options

• Function rclcpp::get_logger

• Function rclcpp::get_logging_directory

• Template Function rclcpp::get_message_type_support_handle

• Function rclcpp::get_node_logger

• Function rclcpp::get_typesupport_handle

• Function rclcpp::get_typesupport_library

• Function rclcpp::init

• Function rclcpp::init_and_remove_ros_arguments

• Function rclcpp::install_signal_handlers

• Function rclcpp::memory_strategies::create_default_strategy

• Template Function rclcpp::node_interfaces::detail::init_element

• Template Function rclcpp::node_interfaces::detail::init_tuple

• Function rclcpp::ok

• Function rclcpp::on_shutdown

• Function rclcpp::operator!=(const NetworkFlowEndpoint&, const NetworkFlowEndpoint&)

• Function rclcpp::operator!=(const QoS&, const QoS&)

• Function rclcpp::operator+

• Function rclcpp::operator<<(std::ostream&, const FutureReturnCode&)

• Function rclcpp::operator<<(std::ostream&, const NetworkFlowEndpoint&)

• Function rclcpp::operator<<(std::ostream&, const rclcpp::Parameter&)

• Function rclcpp::operator<<(std::ostream&, const std::vector<Parameter>&)

• Function rclcpp::operator<<(std::ostream&, ParameterType)

• Function rclcpp::operator<<(std::ostream&, const QosPolicyKind&)

• Function rclcpp::operator==(const NetworkFlowEndpoint&, const NetworkFlowEndpoint&)

• Function rclcpp::operator==(const QoS&, const QoS&)

• Function rclcpp::parameter_map_from

• Function rclcpp::parameter_map_from_yaml_file

• Function rclcpp::parameter_value_from

• Function rclcpp::parameters_from_map

• Function rclcpp::qos_check_compatible

• Function rclcpp::qos_policy_kind_to_cstr

• Function rclcpp::qos_policy_name_from_kind

• Function rclcpp::remove_ros_arguments

• Function rclcpp::shutdown

• Function rclcpp::signal_handlers_installed

• Function rclcpp::sleep_for

• Function rclcpp::spin(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr)

• Function rclcpp::spin(rclcpp::Node::SharedPtr)

• Function rclcpp::spin_some(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr)

• Function rclcpp::spin_some(rclcpp::Node::SharedPtr)

• Template Function rclcpp::spin_until_future_complete(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr, const FutureT&, std::chrono::duration<TimeRepT, TimeT>)

• Template Function rclcpp::spin_until_future_complete(std::shared_ptr<NodeT>, const FutureT&, std::chrono::duration<TimeRepT, TimeT>)

• Template Function rclcpp::sub_will_overflow

• Template Function rclcpp::sub_will_underflow

• Function rclcpp::to_string(const FutureReturnCode&)

• Function rclcpp::to_string(ParameterType)

• Function rclcpp::to_string(const ParameterValue&)

• Function rclcpp::type_support::get_describe_parameters_srv_type_support

• Function rclcpp::type_support::get_get_parameter_types_srv_type_support

• Function rclcpp::type_support::get_get_parameters_srv_type_support

• Function rclcpp::type_support::get_intra_process_message_msg_type_support

• Function rclcpp::type_support::get_list_parameters_result_msg_type_support

• Function rclcpp::type_support::get_list_parameters_srv_type_support

• Function rclcpp::type_support::get_parameter_descriptor_msg_type_support

• Function rclcpp::type_support::get_parameter_event_msg_type_support

• Function rclcpp::type_support::get_set_parameters_atomically_srv_type_support

• Function rclcpp::type_support::get_set_parameters_result_msg_type_support

• Function rclcpp::type_support::get_set_parameters_srv_type_support

• Function rclcpp::uninstall_signal_handlers

• Template Function rclcpp::wait_for_message(MsgT&, std::shared_ptr<rclcpp::Subscription<MsgT>>, std::shared_ptr<rclcpp::Context>, std::chrono::duration<Rep, Period>)

• Template Function rclcpp::wait_for_message(MsgT&, rclcpp::Node::SharedPtr, const std::string&, std::chrono::duration<Rep, Period>)

• Function std::to_string(const rclcpp::Parameter&)

• Function std::to_string(const std::vector<rclcpp::Parameter>&)

Variables

• Variable always_false_v

• Variable rclcpp::detail::template_contains_v

• Variable rclcpp::detail::template_unique_v

• Variable rclcpp::topic_statistics::kDefaultPublishingPeriod

• Variable rclcpp::topic_statistics::kDefaultPublishTopicName

Defines

• Define __RCLCPP_MAKE_SHARED_DEFINITION

• Define __RCLCPP_MAKE_UNIQUE_DEFINITION

• Define __RCLCPP_SHARED_PTR_ALIAS

• Define __RCLCPP_UNIQUE_PTR_ALIAS

• Define __RCLCPP_WEAK_PTR_ALIAS

• Define ALL_RCLCPP_NODE_INTERFACES

• Define RCLCPP_DETAIL_APPLY_QOS_OVERRIDE_FROM_PARAMETER_STRING

• Define RCLCPP_DISABLE_COPY

• Define RCLCPP_DO_STRING_JOIN

• Define RCLCPP_EXPORT

• Define RCLCPP_IMPORT

• Define RCLCPP_LOCAL

• Define RCLCPP_LOGGING_ENABLED

• Define RCLCPP_NODE_INTERFACE_HELPERS_SUPPORT

• Define RCLCPP_PUBLIC

• Define RCLCPP_PUBLIC_TYPE

• Define RCLCPP_SHARED_PTR_DEFINITIONS

• Define RCLCPP_SMART_PTR_ALIASES_ONLY

• Define RCLCPP_SMART_PTR_DEFINITIONS

• Define RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE

• Define RCLCPP_STRING_JOIN

• Define RCLCPP_UNIQUE_PTR_DEFINITIONS

• Define RCLCPP_USING_CUSTOM_TYPE_AS_ROS_MESSAGE_TYPE

• Define RCLCPP_WEAK_PTR_DEFINITIONS

Typedefs

• Typedef rclcpp::allocator::AllocRebind

• Typedef rclcpp::allocator::Deleter

• Typedef rclcpp::exceptions::reset_error_function_t

• Typedef rclcpp::executors::WeakCallbackGroupsToNodesMap

• Typedef rclcpp::IncompatibleTypeCallbackType

• Typedef rclcpp::IncompatibleTypeInfo

• Typedef rclcpp::MatchedInfo

• Typedef rclcpp::OnShutdownCallbackHandle

• Typedef rclcpp::ParameterMap

• Typedef rclcpp::PreShutdownCallbackHandle

• Typedef rclcpp::PublisherMatchedCallbackType

• Typedef rclcpp::PublisherOptions

• Typedef rclcpp::QosCallback

• Typedef rclcpp::QosCallbackResult

• Typedef rclcpp::QOSDeadlineOfferedCallbackType

• Typedef rclcpp::QOSDeadlineOfferedInfo

• Typedef rclcpp::QOSDeadlineRequestedCallbackType

• Typedef rclcpp::QOSDeadlineRequestedInfo

• Typedef rclcpp::QOSEventHandler

• Typedef rclcpp::QOSEventHandlerBase

• Typedef rclcpp::QOSLivelinessChangedCallbackType

• Typedef rclcpp::QOSLivelinessChangedInfo

• Typedef rclcpp::QOSLivelinessLostCallbackType

• Typedef rclcpp::QOSLivelinessLostInfo

• Typedef rclcpp::QOSMessageLostCallbackType

• Typedef rclcpp::QOSMessageLostInfo

• Typedef rclcpp::QOSOfferedIncompatibleQoSCallbackType

• Typedef rclcpp::QOSOfferedIncompatibleQoSInfo

• Typedef rclcpp::QOSRequestedIncompatibleQoSCallbackType

• Typedef rclcpp::QOSRequestedIncompatibleQoSInfo

• Typedef rclcpp::Rate

• Typedef rclcpp::StaticWaitSet

• Typedef rclcpp::SubscriptionMatchedCallbackType

• Typedef rclcpp::SubscriptionOptions

• Typedef rclcpp::ThreadSafeWaitSet

• Typedef rclcpp::TimerCallbackType

• Typedef rclcpp::VoidCallbackType

• Typedef rclcpp::WaitSet

• Typedef rclcpp::WallRate

• Typedef rclcpp::WeakCallbackGroupsToNodesMap

Directories

• Directory include

• Directory rclcpp

• Directory allocator

• Directory contexts

• Directory detail

• Directory dynamic_typesupport

• Directory exceptions

• Directory executors

• Directory experimental

• Directory buffers

• Directory executors

• Directory events_executor

• Directory node_interfaces

• Directory detail

• Directory strategies

• Directory topic_statistics

• Directory wait_set_policies

• Directory detail

Files

• File add_guard_condition_to_rcl_wait_set.hpp

• File allocator_common.hpp

• File allocator_deleter.hpp

• File allocator_memory_strategy.hpp

• File any_executable.hpp

• File any_service_callback.hpp

• File any_subscription_callback.hpp

• File buffer_implementation_base.hpp

• File callback_group.hpp

• File client.hpp

• File clock.hpp

• File context.hpp

• File cpp_callback_trampoline.hpp

• File create_client.hpp

• File create_generic_publisher.hpp

• File create_generic_subscription.hpp

• File create_intra_process_buffer.hpp

• File create_publisher.hpp

• File create_service.hpp

• File create_subscription.hpp

• File create_timer.hpp

• File default_context.hpp

• File duration.hpp

• File dynamic_message.hpp

• File dynamic_message_type.hpp

• File dynamic_message_type_builder.hpp

• File dynamic_message_type_support.hpp

• File dynamic_serialization_support.hpp

• File dynamic_storage.hpp

• File event.hpp

• File event_handler.hpp

• File events_executor.hpp

• File events_executor_event_types.hpp

• File events_queue.hpp

• File exceptions.hpp

• File exceptions.hpp

• File executable_list.hpp

• File executor.hpp

• File executor_entities_collection.hpp

• File executor_entities_collector.hpp

• File executor_notify_waitable.hpp

• File executor_options.hpp

• File executors.hpp

• File expand_topic_or_service_name.hpp

• File function_traits.hpp

• File future_return_code.hpp

• File generic_publisher.hpp

• File generic_subscription.hpp

• File get_message_type_support_handle.hpp

• File graph_listener.hpp

• File guard_condition.hpp

• File init_options.hpp

• File intra_process_buffer.hpp

• File intra_process_buffer_type.hpp

• File intra_process_manager.hpp

• File intra_process_setting.hpp

• File is_ros_compatible_type.hpp

• File loaned_message.hpp

• File logger.hpp

• File macros.hpp

• File memory_strategies.hpp

• File memory_strategy.hpp

• File message_info.hpp

• File message_memory_strategy.hpp

• File message_pool_memory_strategy.hpp

• File multi_threaded_executor.hpp

• File network_flow_endpoint.hpp

• File node.hpp

• File node_base.hpp

• File node_base_interface.hpp

• File node_clock.hpp

• File node_clock_interface.hpp

• File node_graph.hpp

• File node_graph_interface.hpp

• File node_impl.hpp

• File node_interfaces.hpp

• File node_interfaces_helpers.hpp

• File node_logging.hpp

• File node_logging_interface.hpp

• File node_options.hpp

• File node_parameters.hpp

• File node_parameters_interface.hpp

• File node_services.hpp

• File node_services_interface.hpp

• File node_time_source.hpp

• File node_time_source_interface.hpp

• File node_timers.hpp

• File node_timers_interface.hpp

• File node_topics.hpp

• File node_topics_interface.hpp

• File node_type_descriptions.hpp

• File node_type_descriptions_interface.hpp

• File node_waitables.hpp

• File node_waitables_interface.hpp

• File parameter.hpp

• File parameter_client.hpp

• File parameter_event_handler.hpp

• File parameter_events_filter.hpp

• File parameter_map.hpp

• File parameter_service.hpp

• File parameter_value.hpp

• File publisher.hpp

• File publisher_base.hpp

• File publisher_factory.hpp

• File publisher_options.hpp

• File qos.hpp

• File qos_event.hpp

• File qos_overriding_options.hpp

• File qos_parameters.hpp

• File rate.hpp

• File rclcpp.hpp

• File README.md

• File README.md

• File resolve_enable_topic_statistics.hpp

• File resolve_intra_process_buffer_type.hpp

• File resolve_use_intra_process.hpp

• File ring_buffer_implementation.hpp

• File rmw_implementation_specific_payload.hpp

• File rmw_implementation_specific_publisher_payload.hpp

• File rmw_implementation_specific_subscription_payload.hpp

• File ros_message_intra_process_buffer.hpp

• File sequential_synchronization.hpp

• File serialization.hpp

• File serialized_message.hpp

• File service.hpp

• File simple_events_queue.hpp

• File single_threaded_executor.hpp

• File static_executor_entities_collector.hpp

• File static_single_threaded_executor.hpp

• File static_storage.hpp

• File storage_policy_common.hpp

• File subscription.hpp

• File subscription_base.hpp

• File subscription_callback_type_helper.hpp

• File subscription_content_filter_options.hpp

• File subscription_factory.hpp

• File subscription_intra_process.hpp

• File subscription_intra_process_base.hpp

• File subscription_intra_process_buffer.hpp

• File subscription_options.hpp

• File subscription_topic_statistics.hpp

• File subscription_traits.hpp

• File subscription_wait_set_mask.hpp

• File synchronization_policy_common.hpp

• File template_contains.hpp

• File template_unique.hpp

• File thread_safe_synchronization.hpp

• File time.hpp

• File time_source.hpp

• File timer.hpp

• File timers_manager.hpp

• File topic_statistics_state.hpp

• File type_adapter.hpp

• File type_support_decl.hpp

• File typesupport_helpers.hpp

• File utilities.hpp

• File utilities.hpp

• File visibility_control.hpp

• File wait_for_message.hpp

• File wait_result.hpp

• File wait_result_kind.hpp

• File wait_set.hpp

• File wait_set_template.hpp

• File waitable.hpp

• File write_preferring_read_write_lock.hpp

Pages

• README

• README

• Deprecated List

• Todo List