#include "rcl/allocator.h"
#include "rcl/arguments.h"
#include "rcl/domain_id.h"

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Classes
struct	rcl_node_options_s
	Structure which encapsulates the options for creating a rcl_node_t. More...

Macros
#define	RCL_NODE_OPTIONS_DEFAULT_DOMAIN_ID RCL_DEFAULT_DOMAIN_ID
	Constant which indicates that the default domain id should be used.

Typedefs
typedef struct rcl_node_options_s	rcl_node_options_t
	Structure which encapsulates the options for creating a rcl_node_t.

Functions
RCL_PUBLIC rcl_node_options_t	rcl_node_get_default_options (void)
	Return the default node options in a rcl_node_options_t. More...

RCL_PUBLIC RCL_WARN_UNUSED rcl_ret_t	rcl_node_options_copy (const rcl_node_options_t options, rcl_node_options_t options_out)
	Copy one options structure into another. More...

RCL_PUBLIC RCL_WARN_UNUSED rcl_ret_t	rcl_node_options_fini (rcl_node_options_t *options)
	Finalize the given node_options. More...

Function Documentation

◆ rcl_node_get_default_options()

RCL_PUBLIC rcl_node_options_t rcl_node_get_default_options ( void )

Return the default node options in a rcl_node_options_t.

The default values are:

allocator = rcl_get_default_allocator()
use_global_arguments = true
enable_rosout = true
arguments = rcl_get_zero_initialized_arguments()
rosout_qos = rcl_qos_profile_rosout_default

Returns: A structure with the default node options.

Definition at line 30 of file node_options.c.

References rcl_node_options_s::allocator, rcl_get_default_allocator, and rcl_get_zero_initialized_arguments().

Referenced by rclcpp::NodeOptions::get_rcl_node_options(), and rcl_node_init().

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◆ rcl_node_options_copy()

RCL_PUBLIC RCL_WARN_UNUSED rcl_ret_t rcl_node_options_copy	(	const rcl_node_options_t *	options,
		rcl_node_options_t *	options_out
	)

Copy one options structure into another.

Attribute	Adherence
Allocates Memory	Yes
Thread-Safe	No
Uses Atomics	No
Lock-Free	Yes

Parameters

[in]	options	The structure to be copied. Its allocator is used to copy memory into the new structure.
[out]	options_out	An options structure containing default values.

Returns: RCL_RET_OK if the structure was copied successfully, or; RCL_RET_INVALID_ARGUMENT if any function arguments are invalid, or; RCL_RET_BAD_ALLOC if allocating memory failed, or; RCL_RET_ERROR if an unspecified error occurs.

Definition at line 44 of file node_options.c.

References rcl_node_options_s::allocator, rcl_node_options_s::arguments, rcl_node_options_s::enable_rosout, rcl_arguments_s::impl, rcl_arguments_copy(), RCL_RET_INVALID_ARGUMENT, RCL_RET_OK, rcl_node_options_s::rosout_qos, and rcl_node_options_s::use_global_arguments.

Referenced by rcl_node_init().

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◆ rcl_node_options_fini()

RCL_PUBLIC RCL_WARN_UNUSED rcl_ret_t rcl_node_options_fini ( rcl_node_options_t * options )

Finalize the given node_options.

The given node_options must be non-NULL and valid, i.e. had rcl_node_get_default_options() called on it but not this function yet.

Attribute	Adherence
Allocates Memory	Yes
Thread-Safe	No
Uses Atomics	Yes
Lock-Free	Yes

Parameters

[in,out] options object to be finalized

Returns: RCL_RET_OK if setup is successful, or; RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or; RCL_RET_ERROR if an unspecified error occurs.

Definition at line 71 of file node_options.c.

References rcl_node_options_s::allocator, rcl_node_options_s::arguments, rcl_arguments_s::impl, rcl_arguments_fini(), RCL_CHECK_ALLOCATOR, RCL_RET_INVALID_ARGUMENT, and RCL_RET_OK.

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Classes

Macros

Typedefs

Functions

Function Documentation

◆ rcl_node_get_default_options()

◆ rcl_node_options_copy()

◆ rcl_node_options_fini()