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Free Functions (Stage 1)#

These free functions are used with rclcpp::Node at Stage 1. Pass the node pointer as the first argument.

create_publisher()#

agnocast::Publisher<MessageT>::SharedPtr create_publisher(NodeT *node, const std::string &topic_name, const rclcpp::QoS &qos, const agnocast::PublisherOptions &options)

Create an Agnocast publisher (Stage 1 free function, QoS overload).

Template Parameter Description
MessageT ROS message type.
NodeT Node type (rclcpp::Node or agnocast::Node).
Parameter Default Description
node — Pointer to the node.
topic_name — Topic name.
qos — Quality of service profile.
options agnocast::PublisherOptions{} Publisher options.
Returns Shared pointer to the created publisher.

create_publisher() [overload 2]#

agnocast::Publisher<MessageT>::SharedPtr create_publisher(NodeT *node, const std::string &topic_name, const size_t qos_history_depth, const agnocast::PublisherOptions &options)

Create an Agnocast publisher (Stage 1 free function, history-depth overload).

Template Parameter Description
MessageT ROS message type.
NodeT Node type (rclcpp::Node or agnocast::Node).
Parameter Default Description
node — Pointer to the node.
topic_name — Topic name.
qos_history_depth — History depth for the QoS profile.
options agnocast::PublisherOptions{} Publisher options.
Returns Shared pointer to the created publisher.

create_generic_publisher()#

GenericPublisher::SharedPtr create_generic_publisher(NodeT *node, const std::string &topic_name, const std::string &topic_type, const rclcpp::QoS &qos, agnocast::PublisherOptions options)

Create an Agnocast generic publisher (Stage 1 free function, QoS overload).

Template Parameter Description
NodeT Node type (rclcpp::Node or agnocast::Node).
Parameter Default Description
node — Pointer to the node.
topic_name — Topic name.
topic_type — Message type string.
qos — Quality of service profile.
options agnocast::PublisherOptions{} Publisher options.
Returns Shared pointer to the created generic publisher.

create_generic_publisher() [overload 2]#

GenericPublisher::SharedPtr create_generic_publisher(NodeT *node, const std::string &topic_name, const std::string &topic_type, const size_t qos_history_depth, agnocast::PublisherOptions options)

Create an Agnocast generic publisher (Stage 1 free function, history-depth overload).

Template Parameter Description
NodeT Node type (rclcpp::Node or agnocast::Node).
Parameter Default Description
node — Pointer to the node.
topic_name — Topic name.
topic_type — Message type string.
qos_history_depth — History depth for the QoS profile.
options agnocast::PublisherOptions{} Publisher options.
Returns Shared pointer to the created generic publisher.

create_subscription()#

agnocast::Subscription<MessageT>::SharedPtr create_subscription(NodeT *node, const std::string &topic_name, const rclcpp::QoS &qos, Func &&callback, agnocast::SubscriptionOptions options)

Create an Agnocast subscription (Stage 1 free function, QoS overload).

Template Parameter Description
MessageT ROS message type.
NodeT Node type (rclcpp::Node or agnocast::Node).
Func Callback callable with void(agnocast::ipc_shared_ptr<const MessageT>&&).
Parameter Default Description
node — Pointer to the node.
topic_name — Topic name.
qos — Quality of service profile.
callback — Callback invoked on each received message.
options agnocast::SubscriptionOptions{} Subscription options.
Returns Shared pointer to the created subscription.

create_subscription() [overload 2]#

agnocast::Subscription<MessageT>::SharedPtr create_subscription(NodeT *node, const std::string &topic_name, const size_t qos_history_depth, Func &&callback, agnocast::SubscriptionOptions options)

Create an Agnocast subscription (Stage 1 free function, history-depth overload).

Template Parameter Description
MessageT ROS message type.
NodeT Node type (rclcpp::Node or agnocast::Node).
Func Callback callable with void(agnocast::ipc_shared_ptr<const MessageT>&&).
Parameter Default Description
node — Pointer to the node.
topic_name — Topic name.
qos_history_depth — History depth for the QoS profile.
callback — Callback invoked on each received message.
options agnocast::SubscriptionOptions{} Subscription options.
Returns Shared pointer to the created subscription.

create_subscription() [overload 3]#

agnocast::PollingSubscriber<MessageT>::SharedPtr create_subscription(NodeT *node, const std::string &topic_name, const size_t qos_history_depth)

Create an Agnocast polling subscription (Stage 1 free function, history-depth overload).

Template Parameter Description
MessageT ROS message type.
NodeT Node type (rclcpp::Node or agnocast::Node).
Parameter Description
node Pointer to the node.
topic_name Topic name.
qos_history_depth History depth for the QoS profile.
Returns Shared pointer to the created polling subscription.

create_subscription() [overload 4]#

agnocast::PollingSubscriber<MessageT>::SharedPtr create_subscription(NodeT *node, const std::string &topic_name, const rclcpp::QoS &qos)

Create an Agnocast polling subscription (Stage 1 free function, QoS overload).

Template Parameter Description
MessageT ROS message type.
NodeT Node type (rclcpp::Node or agnocast::Node).
Parameter Description
node Pointer to the node.
topic_name Topic name.
qos Quality of service profile.
Returns Shared pointer to the created polling subscription.

create_generic_subscription()#

GenericSubscription::SharedPtr create_generic_subscription(NodeT *node, const std::string &topic_name, const std::string &topic_type, const rclcpp::QoS &qos, Func &&callback, agnocast::SubscriptionOptions options)

Create an Agnocast generic subscription (Stage 1 free function, QoS overload).

Template Parameter Description
NodeT Node type (rclcpp::Node or agnocast::Node).
Func Callable accepting a serialized message, e.g. void(std::shared_ptr<const rclcpp::SerializedMessage>).
Parameter Default Description
node — Pointer to the node.
topic_name — Topic name.
topic_type — Message type string.
qos — Quality of service profile.
callback — Callback invoked on each received message.
options agnocast::SubscriptionOptions{} Subscription options.
Returns Shared pointer to the created generic subscription.

create_generic_subscription() [overload 2]#

GenericSubscription::SharedPtr create_generic_subscription(NodeT *node, const std::string &topic_name, const std::string &topic_type, const size_t qos_history_depth, Func &&callback, agnocast::SubscriptionOptions options)

Create an Agnocast generic subscription (Stage 1 free function, history-depth overload).

Template Parameter Description
NodeT Node type (rclcpp::Node or agnocast::Node).
Func Callable accepting a serialized message, e.g. void(std::shared_ptr<const rclcpp::SerializedMessage>).
Parameter Default Description
node — Pointer to the node.
topic_name — Topic name.
topic_type — Message type string.
qos_history_depth — History depth for the QoS profile.
callback — Callback invoked on each received message.
options agnocast::SubscriptionOptions{} Subscription options.
Returns Shared pointer to the created generic subscription.

create_client()#

agnocast::Client<ServiceT>::SharedPtr create_client(NodeT *node, const std::string &service_name, const rclcpp::QoS &qos, rclcpp::CallbackGroup::SharedPtr group)

Create an Agnocast service client (Stage 1 free function).

Template Parameter Description
ServiceT ROS service type.
NodeT Node type (rclcpp::Node or agnocast::Node).
Parameter Default Description
node — Pointer to the node.
service_name — Service name.
qos rclcpp::ServicesQoS() Quality of service profile. Defaults to rclcpp::ServicesQoS().
group nullptr Callback group. Defaults to nullptr (default callback group).
Returns Shared pointer to the created client.

create_service()#

agnocast::Service<ServiceT>::SharedPtr create_service(NodeT *node, const std::string &service_name, Func &&callback, const rclcpp::QoS &qos, rclcpp::CallbackGroup::SharedPtr group)

Create an Agnocast service server (Stage 1 free function).

Template Parameter Description
ServiceT ROS service type.
NodeT Node type (rclcpp::Node or agnocast::Node).
Func Callable that takes ipc_shared_ptr and ipc_shared_ptr (const&, &&, or by-value) (return value ignored).
Parameter Default Description
node — Pointer to the node.
service_name — Service name.
callback — Callback invoked on each request.
qos rclcpp::ServicesQoS() Quality of service profile. Defaults to rclcpp::ServicesQoS().
group nullptr Callback group. Defaults to nullptr (default callback group).
Returns Shared pointer to the created service.

create_timer()#

agnocast::TimerBase::SharedPtr create_timer(NodeT node, rclcpp::Clock::SharedPtr clock, rclcpp::Duration period, CallbackT &&callback, rclcpp::CallbackGroup::SharedPtr group, bool autostart)

Create a timer with a given clock. This free function mirrors the rclcpp::create_timer() API for portability.

Template Parameter Description
NodeT Node type (rclcpp::Node or agnocast::Node).
CallbackT Callable type for the callback.
Parameter Default Description
node — Node providing get_node_base_interface() for the default callback group.
clock — Clock to drive the timer.
period — Time interval between triggers of the callback.
callback — User-defined callback function.
group nullptr Callback group to execute this timer's callback in.
autostart true Whether to start the timer immediately (not yet supported; always true).
Returns Shared pointer to the created timer.

init()#

void init(int argc, char const *const *argv)

Initialize Agnocast. Must be called once before creating any agnocast::Node. This is the counterpart of rclcpp::init() for agnocast::Node.

Parameter Description
argc Number of command-line arguments.
argv Command-line argument array.

shutdown()#

void shutdown()

Shut down Agnocast. Should be called before process exit in agnocast::Node processes. This is the counterpart of rclcpp::shutdown() for agnocast::Node.

ok()#

bool ok()

Check whether Agnocast context is valid (initialized and not shutdown). This is the counterpart of rclcpp::ok() for agnocast::Node.