node.hpp File Reference

rclcpp::Node and global session helpers. More...

#include <cstdint>
#include <cstddef>
#include <type_traits>
#include "rclcpp/detail/nros_cpp_ffi.h"
#include "rclcpp/detail/traits.hpp"
#include "rclcpp/handle.hpp"
#include "rclcpp/result.hpp"
#include "rclcpp/owned.hpp"
#include "rclcpp/detail/hosted_block.hpp"
#include "rclcpp/detail/nros_cpp_config_generated.h"
#include "rclc/detail/entry_config.h"
#include "rclcpp/qos.hpp"
#include "rclcpp/options.hpp"
#include "rclcpp/timer.hpp"
#include "rclcpp/clock.hpp"
#include "rclcpp/detail/declared_qos.hpp"
#include "rclcpp/detail/declared_params.hpp"
#include "rclcpp/node_parameters.hpp"
#include "rclcpp/parameter_value.hpp"
#include "rclcpp/logging.hpp"
#include "rclcpp/guard_condition.hpp"
#include "rclcpp/executor.hpp"
#include "rclcpp/graph.hpp"
#include "rclcpp/callback_group.hpp"
#include "rclcpp/parameter.hpp"
#include "rclcpp/detail/std_detect.hpp"

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Classes
class	rclcpp::Node
class	rclcpp::NodeBuilder
struct	rclcpp::NodeHandle
class	rclcpp::node_interfaces::NodeInterfaceHandle< Tag >
	One slice's handle; Tag only keeps the five spellings distinct types. More...
class	rclcpp::NodeWithTimers< MaxTimers >

Namespaces
namespace	rclcpp
namespace	rclcpp::detail
namespace	rclcpp::node_interfaces
namespace	rclcpp_action

Macros
#define	NROS_COMPONENT_MAX_TIMERS   8

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

Functions
int32_t	rclcpp::detail::apply_ros_args (void *executor, int argc, char const *const *argv)
Result	rclcpp::create_node (::rclcpp::Node &out, const char *name, const char *ns)
Result	rclcpp::create_node_on (::rclcpp::Node &out, void *executor_handle, const char *name, const char *ns)
const char *	rclcpp::detail::declared_durability_spelling (int ordinal)
	The contract spelling of a durability ordinal, for the report above.
const char *	rclcpp::detail::declared_reliability_spelling (int ordinal)
	The contract spelling of a reliability ordinal, for the report above.
void	rclcpp::detail::finish_declared_callback_groups (::rclcpp::Node &node, const DeclaredCallbackGroups &groups)
void *	rclcpp::global_handle ()
Result	rclcpp::detail::init_honouring_ros_args (int argc, char const *const *argv, const char *name)
Result	rclcpp::init_in (const char *locator, uint8_t domain_id, const char *session_name)
Result	rclcpp::init_in (const char *locator, uint8_t domain_id, const char *session_name, const char *node_namespace)
Result	rclcpp::init_in (const char *locator=nullptr, uint8_t domain_id=0)
Result	rclcpp::init_in (int argc, char const *const *argv, const char *session_name=nullptr)
Result	rclcpp::init_with_rmw (const char *rmw, const char *locator=nullptr, uint8_t domain_id=0, const char *session_name="node")
ResultOf<::rclcpp::Node >	rclcpp::make_node (const char *name, const char *ns=nullptr)
bool	rclcpp::ok ()
void	rclcpp::detail::report_callback_group_mismatch (const char *node_name, const char *how, const char *name, int len, const char *list)
void	rclcpp::detail::report_component_failure (const char *node_name, const char *what, int32_t code)
void	rclcpp::detail::report_declared_depth_mismatch (const char *node_name, const char *topic, int declared, int passed)
void	rclcpp::detail::report_declared_param_mismatch (const char *fqn, const char *param, const char *contract, int declared, int passed)
void	rclcpp::detail::report_declared_policy_mismatch (const char *node_name, const char *topic, const char *policy, const char *declared, const char *passed)
Result	rclcpp::shutdown_in ()
Result	rclcpp::spin_in ()
Result	rclcpp::spin_in (uint32_t duration_ms, int32_t poll_ms=10)
Result	rclcpp::spin_once (int32_t timeout_ms=10)

Variables
constexpr int32_t	rclcpp::detail::DECLARED_DEPTH_MISMATCH = -403
constexpr int32_t	rclcpp::detail::DECLARED_PARAM_MISMATCH = -446
constexpr int32_t	rclcpp::detail::DECLARED_QOS_MISMATCH = DECLARED_DEPTH_MISMATCH
constexpr uint8_t	rclcpp::kDomainIdExplicitZero = 255

Detailed Description

rclcpp::Node and global session helpers.

Macro Definition Documentation

NROS_COMPONENT_MAX_TIMERS

#define NROS_COMPONENT_MAX_TIMERS   8

Max timers a NodeWithTimers may own via the storage-free create_*_in members. Overridable per build with a #define before including this header; it is the DEFAULT depth, not a cap on what a node may ask for.