rclcpp::InitOptions Class Reference

Encapsulation of options for initializing rclcpp. More...

#include <rclcpp/init_options.hpp>

Public Member Functions
RCLCPP_PUBLIC	InitOptions (rcl_allocator_t allocator=rcl_get_default_allocator())
	Constructor. More...
RCLCPP_PUBLIC	InitOptions (const rcl_init_options_t &init_options)
	Constructor which is initialized by an existing init_options. More...
RCLCPP_PUBLIC	InitOptions (const InitOptions &other)
	Copy constructor.
RCLCPP_PUBLIC bool	auto_initialize_logging () const
	Return true if logging should be initialized when rclcpp::Context::init is called.
RCLCPP_PUBLIC InitOptions &	auto_initialize_logging (bool initialize_logging)
	Set flag indicating if logging should be initialized or not.
RCLCPP_PUBLIC InitOptions &	operator= (const InitOptions &other)
	Assignment operator.
RCLCPP_PUBLIC const rcl_init_options_t *	get_rcl_init_options () const
	Return the rcl init options. More...
RCLCPP_PUBLIC void	use_default_domain_id ()
	Retrieve default domain id and set.
RCLCPP_PUBLIC void	set_domain_id (size_t domain_id)
	Set the domain id.
RCLCPP_PUBLIC size_t	get_domain_id () const
	Return domain id.

Public Attributes
bool	shutdown_on_signal = true
	If true, the context will be shutdown on SIGINT by the signal handler (if it was installed).

Protected Member Functions
void	finalize_init_options ()

Detailed Description

Encapsulation of options for initializing rclcpp.

Definition at line 28 of file init_options.hpp.

Constructor & Destructor Documentation

InitOptions() [1/2]

rclcpp::InitOptions::InitOptions ( rcl_allocator_t  allocator = rcl_get_default_allocator() )

explicit

Constructor.

It allows you to specify the allocator used within the init options.

Parameters

[in]

allocator

used allocate memory within the init options

Exceptions

anything

rclcpp::exceptions::throw_from_rcl_error can throw.

Definition at line 23 of file init_options.cpp.

References rcl_get_zero_initialized_init_options(), rcl_init_options_init(), and RCL_RET_OK.

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InitOptions() [2/2]

rclcpp::InitOptions::InitOptions ( const rcl_init_options_t &  init_options )

explicit

Constructor which is initialized by an existing init_options.

Initialized by an existing init_options.

Parameters

[in]

init_options

rcl_init_options_t to initialized

Exceptions

anything

rclcpp::exceptions::throw_from_rcl_error can throw.

Definition at line 33 of file init_options.cpp.

References rcl_get_zero_initialized_init_options(), rcl_init_options_copy(), and RCL_RET_OK.

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Member Function Documentation

get_rcl_init_options()

const rcl_init_options_t * rclcpp::InitOptions::get_rcl_init_options

(

)

const

Return the rcl init options.

Returns

the rcl init options.

Exceptions

anything

rclcpp::exceptions::throw_from_rcl_error can throw.

Definition at line 107 of file init_options.cpp.

Referenced by rclcpp::Context::init(), and operator=().

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The documentation for this class was generated from the following files:

• rclcpp/include/rclcpp/init_options.hpp
• rclcpp/src/rclcpp/init_options.cpp