Node creation and lifecycle.

rcl_node_t is the parent for publishers, subscriptions, services, clients, action servers, and action clients. Each entity is bound to a node at init time and torn down before the node itself.

rcl_node_t node = rcl_get_zero_initialized_node();
rclc_node_init_default(&node, "my_node", "/", &support);
// ... bind entities ...
rcl_node_fini(&node);

See also: pubsub, service, action