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c7b62bff71
* [rclcpp_action] Action client holds weak pointers to goal handles Fixes #861 It is against the design of ROS actions to rely on the status topic for the core implementation, instead it should just be used for introspection. Rather than relying on the status topic to remove references to goal handles, the action client instead holds weak pointers to the goal handles. This way as long as a user holds a reference to the goal handle they can use it to interact with the action client. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Move cleanup logic to the end of the function Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add TODO Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Log debug messages when dropping a weak references to goal handles Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Improve documentation Signed-off-by: Jacob Perron <jacob@openrobotics.org> |
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| rclcpp | ||
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| .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.