C++ API

The C++ user-facing surface lives in packages/core/nros-cpp/include/nros/*.hpp. Generated by Doxygen; always reflects the current main branch.

API reference

C++ API Doxygen — start here.

The umbrella header nros/nros.hpp pulls in every public surface a user application needs.

Where to start

• nros/nros.hpp — convenience umbrella include
• nros::init / nros::shutdown — session lifetime
• nros::Node — node + create_publisher/subscription/service/client/action_*
• nros::Publisher<M> / Subscription<M>
• nros::Service<S> / Client<S>
• nros::ActionServer<A> / ActionClient<A> — L2 callback model (executor-arena registered).
• nros::PollingActionServer<A> / PollingActionClient<A> — L1 polling model. Caller drives try_recv_* / accept_goal / complete_goal from a spin loop.
• nros::Future<T> — async result handle
• nros::Executor, Timer, GuardCondition
• nros::ParameterServer<Cap> — node-local typed parameter store (bool / int64_t / double / const char*); compose alongside a Node. See Differences from ROS 2 §9 for what is intentionally smaller than rclcpp.

The library is freestanding C++14 — no STL, no exceptions. Define NROS_CPP_STD if you want the optional std::string / std::function / std::chrono overloads.

Two-layer API. The nros::ActionServer<A> / ActionClient<A> templates are L2 callback handles (set callbacks via nros_cpp_action_server_set_callbacks, dispatched by the executor). The new nros::PollingActionServer<A> / PollingActionClient<A> are L1 polling templates with the same typed serdes glue but caller-driven control flow. Subscriptions / services / service clients are already L1-shaped in nros-cpp. See Two-Layer API for the per-layer rationale.

Event-driven wake callbacks. PollingActionServer<A> and PollingActionClient<A> expose a nested WakeState POD and typed set_{goal,cancel,get_result,goal_response, cancel_response,result,feedback}_wake_callback(state, cb, ctx) methods. Pair an nros_cpp_wake_state_t with each entity / channel to wake on rx instead of polling.

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