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9c1cbdf6c7
* Fix conversion from negative Duration or Time to the respective message type and throw in Duration::to_rmw_time() if the duration is negative. rmw_time_t cannot represent negative durations. Constructors and assignment operators can be just defaulted. Other changes are mainly cosmetical, to make conversions between signed and unsigned types and between 32-bit and 64-bit types more explicit. Signed-off-by: Johannes Meyer <johannes@intermodalics.eu> * Add -Wconversion compiler option and fix implicit conversions that might alter the value Signed-off-by: Johannes Meyer <johannes@intermodalics.eu> * Fix usage of fixture class in some unit tests by using gtest macro TEST_F() instead of TEST(). Signed-off-by: Johannes Meyer <johannes@intermodalics.eu> * Add compiler option -Wno-sign-conversion to fix build with Clang on macOS Signed-off-by: Johannes Meyer <johannes@intermodalics.eu> Co-authored-by: Johannes Meyer <johannes@intermodalics.eu> |
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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.