rclcpp::node_interfaces Namespace Reference

Classes
class	NodeInterfaceHandle
	One slice's handle; Tag only keeps the five spellings distinct types. More...

Typedefs
using	NodeBaseInterface = NodeInterfaceHandle<0>
using	NodeClockInterface = NodeInterfaceHandle<1>
using	NodeGraphInterface = NodeInterfaceHandle<2>
using	NodeLoggingInterface = NodeInterfaceHandle<3>
using	NodeWaitablesInterface = NodeInterfaceHandle<4>

Detailed Description

Issue 2015 — upstream's node-interface slices, as HANDLES ON THE ONE NODE.

rclcpp splits a node into ~10 node_interfaces::Node*Interface objects so rclcpp_action::create_server / create_client (a separate package) can take the parts they need. nano-ros has no slices: a node is one object, and each get_node_*_interface() returns a non-owning handle naming it, whose only use is to be passed to those factories. That keeps the stock call rclcpp_action::create_server<A>(this->get_node_base_interface(), ...) compiling as written. Of upstream's interface members the handle has only get_context() (phase-488); calling any other is a compile error.

Typedef Documentation

NodeBaseInterface

using rclcpp::node_interfaces::NodeBaseInterface = NodeInterfaceHandle<0>

NodeClockInterface

using rclcpp::node_interfaces::NodeClockInterface = NodeInterfaceHandle<1>

NodeGraphInterface

using rclcpp::node_interfaces::NodeGraphInterface = NodeInterfaceHandle<2>

NodeLoggingInterface

using rclcpp::node_interfaces::NodeLoggingInterface = NodeInterfaceHandle<3>

NodeWaitablesInterface

using rclcpp::node_interfaces::NodeWaitablesInterface = NodeInterfaceHandle<4>