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04f3c33de5
* Add received message age metric to topic statistics Signed-off-by: Prajakta Gokhale <prajaktg@amazon.com> * Add unit tests Signed-off-by: Prajakta Gokhale <prajaktg@amazon.com> * Add IMU messages in unit test Signed-off-by: Prajakta Gokhale <prajaktg@amazon.com> * Use system time instead of steady time Test received message age stats values are greater than 0 Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Fix test warnings Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Replace IMU messages with new dummy messages Signed-off-by: Prajakta Gokhale <prajaktg@amazon.com> * Remove outdated TODO and unused test variables Signed-off-by: Prajakta Gokhale <prajaktg@amazon.com> * Address review comments Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Address review comments Signed-off-by: Prajakta Gokhale <prajaktg@amazon.com> * Re-add message with header for unit testing Signed-off-by: Prajakta Gokhale <prajaktg@amazon.com> * Address message review feedback Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Remove extra newline Signed-off-by: Prajakta Gokhale <prajaktg@amazon.com> * Address more review feedback Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Fix Windows failure Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> * Only set append_library_dirs once Signed-off-by: Devin Bonnie <dbbonnie@amazon.com> |
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| .github | ||
| rclcpp | ||
| rclcpp_action | ||
| rclcpp_components | ||
| rclcpp_lifecycle | ||
| .gitignore | ||
| CONTRIBUTING.md | ||
| LICENSE | ||
| README.md | ||
rclcpp
This repository contains the source code for the ROS Client Library for C++ package, included with a standard install of any ROS 2 distro.
rclcpp provides the standard C++ API for interacting with ROS 2.
Usage
#include "rclcpp/rclcpp.hpp" allows use of the most common elements of the ROS 2 system.
Visit the rclcpp API documentation for a complete list of its main components.
Examples
The ROS 2 tutorials Writing a simple publisher and subscriber and Writing a simple service and client contain some examples of rclcpp APIs in use.