diff --git a/rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp b/rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp index b910594..5bc8139 100644 --- a/rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp +++ b/rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp @@ -45,6 +45,8 @@ public: * once. * * \param args common arguments for all executors + * \param number_of_threads number of threads to have in the thread pool, + * the default 0 will use the number of cpu cores found instead * \param yield_before_execute if true std::this_thread::yield() is called */ RCLCPP_PUBLIC diff --git a/rclcpp/include/rclcpp/node.hpp b/rclcpp/include/rclcpp/node.hpp index 3af264f..035c49c 100644 --- a/rclcpp/include/rclcpp/node.hpp +++ b/rclcpp/include/rclcpp/node.hpp @@ -91,6 +91,8 @@ public: * \param[in] use_global_arguments False to prevent node using arguments passed to the process. * \param[in] use_intra_process_comms True to use the optimized intra-process communication * pipeline to pass messages between nodes in the same process using shared memory. + * \param[in] start_parameter_services True to setup ROS interfaces for accessing parameters + * in the node. */ RCLCPP_PUBLIC Node( diff --git a/rclcpp/include/rclcpp/subscription.hpp b/rclcpp/include/rclcpp/subscription.hpp index 45ab45d..42abe71 100644 --- a/rclcpp/include/rclcpp/subscription.hpp +++ b/rclcpp/include/rclcpp/subscription.hpp @@ -59,6 +59,7 @@ public: * \param[in] type_support_handle rosidl type support struct, for the Message type of the topic. * \param[in] topic_name Name of the topic to subscribe to. * \param[in] subscription_options options for the subscription. + * \param[in] is_serialized is true if the message will be delivered still serialized */ RCLCPP_PUBLIC SubscriptionBase( @@ -161,6 +162,7 @@ public: * The constructor for a subscription is almost never called directly. Instead, subscriptions * should be instantiated through Node::create_subscription. * \param[in] node_handle rcl representation of the node that owns this subscription. + * \param[in] type_support_handle rosidl type support struct, for the Message type of the topic. * \param[in] topic_name Name of the topic to subscribe to. * \param[in] subscription_options options for the subscription. * \param[in] callback User defined callback to call when a message is received. @@ -168,7 +170,7 @@ public: */ Subscription( std::shared_ptr node_handle, - const rosidl_message_type_support_t & ts, + const rosidl_message_type_support_t & type_support_handle, const std::string & topic_name, const rcl_subscription_options_t & subscription_options, AnySubscriptionCallback callback, @@ -177,7 +179,7 @@ public: Alloc>::create_default()) : SubscriptionBase( node_handle, - ts, + type_support_handle, topic_name, subscription_options, rclcpp::subscription_traits::is_serialized_subscription_argument::value), diff --git a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp index ba0f88d..5e37191 100644 --- a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp +++ b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp @@ -73,7 +73,7 @@ public: /// Create a new lifecycle node with the specified name. /** * \param[in] node_name Name of the node. - * \param[in] node_name Namespace of the node. + * \param[in] namespace_ Namespace of the node. * \param[in] use_intra_process_comms True to use the optimized intra-process communication * pipeline to pass messages between nodes in the same process using shared memory. */ @@ -86,7 +86,7 @@ public: /// Create a node based on the node name and a rclcpp::Context. /** * \param[in] node_name Name of the node. - * \param[in] node_name Namespace of the node. + * \param[in] namespace_ Namespace of the node. * \param[in] context The context for the node (usually represents the state of a process). * \param[in] arguments Command line arguments that should apply only to this node. * \param[in] initial_parameters a list of initial values for parameters on the node. @@ -94,6 +94,8 @@ public: * \param[in] use_global_arguments False to prevent node using arguments passed to the process. * \param[in] use_intra_process_comms True to use the optimized intra-process communication * pipeline to pass messages between nodes in the same process using shared memory. + * \param[in] start_parameter_services True to setup ROS interfaces for accessing parameters + * in the node. */ RCLCPP_LIFECYCLE_PUBLIC LifecycleNode( @@ -141,6 +143,7 @@ public: /** * \param[in] topic_name The topic for this publisher to publish on. * \param[in] qos_history_depth The depth of the publisher message queue. + * \param[in] allocator allocator to use during publishing activities. * \return Shared pointer to the created publisher. */ template> @@ -152,7 +155,8 @@ public: /// Create and return a LifecyclePublisher. /** * \param[in] topic_name The topic for this publisher to publish on. - * \param[in] qos_history_depth The depth of the publisher message queue. + * \param[in] qos_profile The QoS settings for this publisher. + * \param[in] allocator allocator to use during publishing activities. * \return Shared pointer to the created publisher. */ template> @@ -201,6 +205,7 @@ public: * \param[in] group The callback group for this subscription. NULL for no callback group. * \param[in] ignore_local_publications True to ignore local publications. * \param[in] msg_mem_strat The message memory strategy to use for allocating messages. + * \param[in] allocator allocator to be used during handling of subscription callbacks. * \return Shared pointer to the created subscription. */ /* TODO(jacquelinekay): @@ -293,7 +298,7 @@ public: /// Register the callback for parameter changes /** - * \param[in] User defined callback function, It is expected to atomically set parameters. + * \param[in] callback User defined function which is expected to atomically set parameters. * \note Repeated invocations of this function will overwrite previous callbacks */ template