API Reference

Stability Guarantee

All API signatures documented here are marked with AGNOCAST_PUBLIC in the source code. These signatures are stable and will not break backward compatibility unless the major version is incremented. See the versioning rules for details.

Section	Description
Free Functions (Stage 1)	Free functions for use with rclcpp::Node (create_publisher, create_subscription, etc.).
Type Aliases	User-facing type aliases (Publisher, Subscription, PollingSubscriber, etc.).
agnocast::Node	Agnocast-only node.
agnocast::Publisher<MessageT>	Zero-copy publisher that allocates messages in shared memory.
agnocast::Subscription<MessageT>	Event-driven subscription that invokes a callback on each new message.
agnocast::TakeSubscription<MessageT>	Polling-based subscription that retrieves messages on demand via take().
agnocast::PollingSubscriber<MessageT>	Polling subscription that retrieves messages on demand.
agnocast::ipc_shared_ptr<T>	Smart pointer for zero-copy IPC message sharing between publishers and subscribers.
agnocast::Client<ServiceT>	Service client for zero-copy Agnocast service communication.
agnocast::Service<ServiceT>	Service server for zero-copy Agnocast service communication.
agnocast::TimerBase	Base class for Agnocast timers providing periodic callback execution.
agnocast::GenericTimer<FunctorT>	Timer that fires periodically using a user-provided clock.
agnocast::WallTimer<FunctorT>	Timer that uses a steady (wall) clock.
Executors	Single-threaded, multi-threaded, and callback-isolated executors for Stage 1 and Stage 2.
Options	PublisherOptions and SubscriptionOptions configuration structs.
Environment Variables	LD_PRELOAD, AGNOCAST_BRIDGE_MODE, and other runtime configuration variables.
Message Filters	Synchronizer, Subscriber filter, PassThrough, and time sync policies.