init

Library initialisation and the support context.

Library initialisation and the support context.

Includes rclc_support_t (the transport session anchor) and its context, which rclc_executor_init takes.

Typical lifecycle:

rcl_allocator_t allocator = rcl_get_default_allocator();
rclc_support_t support = rclc_support_get_zero_initialized();
rclc_support_init(&support, 0, NULL, &allocator);
// ... use the API ...
rclc_support_fini(&support);

See also

node, Getting Started