df3c2ffa8a
* deprecate redundant namespaces, move classes to own files, rename some classes Signed-off-by: William Woodall <william@osrfoundation.org> * fixup Signed-off-by: William Woodall <william@osrfoundation.org> * address review comments Signed-off-by: William Woodall <william@osrfoundation.org> * fix ups since rebase Signed-off-by: William Woodall <william@osrfoundation.org> * avoid deprecation warnings from deprecated functions Signed-off-by: William Woodall <william@osrfoundation.org> * more fixes Signed-off-by: William Woodall <william@osrfoundation.org> * another fixup, after another rebase Signed-off-by: William Woodall <william@osrfoundation.org>
159 lines
5.1 KiB
C++
159 lines
5.1 KiB
C++
// Copyright 2014 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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/** \mainpage rclcpp: ROS Client Library for C++
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*
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* `rclcpp` provides the canonical C++ API for interacting with ROS.
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* It consists of these main components:
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*
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* - Node
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* - rclcpp::Node
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* - rclcpp/node.hpp
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* - Publisher
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* - rclcpp::Node::create_publisher()
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* - rclcpp::Publisher
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* - rclcpp::Publisher::publish()
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* - rclcpp/publisher.hpp
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* - Subscription
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* - rclcpp::Node::create_subscription()
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* - rclcpp::Subscription
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* - rclcpp/subscription.hpp
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* - Service Client
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* - rclcpp::Node::create_client()
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* - rclcpp::Client
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* - rclcpp/client.hpp
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* - Service Server
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* - rclcpp::Node::create_service()
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* - rclcpp::Service
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* - rclcpp/service.hpp
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* - Timer
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* - rclcpp::Node::create_wall_timer()
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* - rclcpp::WallTimer
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* - rclcpp::TimerBase
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* - rclcpp/timer.hpp
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* - Parameters:
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* - rclcpp::Node::set_parameters()
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* - rclcpp::Node::get_parameters()
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* - rclcpp::Node::get_parameter()
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* - rclcpp::Node::describe_parameters()
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* - rclcpp::Node::list_parameters()
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* - rclcpp::Node::add_on_set_parameters_callback()
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* - rclcpp::Node::remove_on_set_parameters_callback()
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* - rclcpp::Parameter
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* - rclcpp::ParameterValue
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* - rclcpp::AsyncParametersClient
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* - rclcpp::SyncParametersClient
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* - rclcpp/parameter.hpp
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* - rclcpp/parameter_value.hpp
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* - rclcpp/parameter_client.hpp
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* - rclcpp/parameter_service.hpp
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* - Rate:
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* - rclcpp::Rate
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* - rclcpp::WallRate
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* - rclcpp/rate.hpp
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*
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* There are also some components which help control the execution of callbacks:
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*
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* - Executors (responsible for execution of callbacks through a blocking spin):
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* - rclcpp::spin()
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* - rclcpp::spin_some()
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* - rclcpp::spin_until_future_complete()
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* - rclcpp::executors::SingleThreadedExecutor
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* - rclcpp::executors::SingleThreadedExecutor::add_node()
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* - rclcpp::executors::SingleThreadedExecutor::spin()
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* - rclcpp::executors::MultiThreadedExecutor
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* - rclcpp::executors::MultiThreadedExecutor::add_node()
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* - rclcpp::executors::MultiThreadedExecutor::spin()
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* - rclcpp/executor.hpp
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* - rclcpp/executors.hpp
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* - rclcpp/executors/single_threaded_executor.hpp
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* - rclcpp/executors/multi_threaded_executor.hpp
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* - CallbackGroups (mechanism for enforcing concurrency rules for callbacks):
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* - rclcpp::Node::create_callback_group()
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* - rclcpp::CallbackGroup
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* - rclcpp/callback_group.hpp
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*
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* Additionally, there are some methods for introspecting the ROS graph:
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*
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* - Graph Events (a waitable event object that wakes up when the graph changes):
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* - rclcpp::Node::get_graph_event()
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* - rclcpp::Node::wait_for_graph_change()
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* - rclcpp::Event
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* - List topic names and types:
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* - rclcpp::Node::get_topic_names_and_types()
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* - Get the number of publishers or subscribers on a topic:
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* - rclcpp::Node::count_publishers()
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* - rclcpp::Node::count_subscribers()
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*
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* And components related to logging:
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*
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* - Logging macros:
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* - Some examples (not exhaustive):
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* - RCLCPP_DEBUG()
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* - RCLCPP_INFO()
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* - RCLCPP_WARN_ONCE()
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* - RCLCPP_ERROR_SKIPFIRST()
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* - rclcpp/logging.hpp
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* - Logger:
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* - rclcpp::Logger
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* - rclcpp/logger.hpp
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* - rclcpp::Node::get_logger()
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*
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* Finally, there are many internal API's and utilities:
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*
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* - Exceptions:
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* - rclcpp/exceptions.hpp
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* - Allocator related items:
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* - rclcpp/allocator/allocator_common.hpp
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* - rclcpp/allocator/allocator_deleter.hpp
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* - Memory management tools:
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* - rclcpp/memory_strategies.hpp
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* - rclcpp/memory_strategy.hpp
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* - rclcpp/message_memory_strategy.hpp
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* - rclcpp/strategies/allocator_memory_strategy.hpp
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* - rclcpp/strategies/message_pool_memory_strategy.hpp
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* - Context object which is shared amongst multiple Nodes:
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* - rclcpp::Context
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* - rclcpp/context.hpp
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* - rclcpp/contexts/default_context.hpp
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* - Various utilities:
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* - rclcpp/function_traits.hpp
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* - rclcpp/macros.hpp
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* - rclcpp/scope_exit.hpp
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* - rclcpp/time.hpp
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* - rclcpp/utilities.hpp
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* - rclcpp/visibility_control.hpp
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*/
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#ifndef RCLCPP__RCLCPP_HPP_
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#define RCLCPP__RCLCPP_HPP_
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#include <csignal>
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#include <memory>
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#include "rclcpp/executors.hpp"
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#include "rclcpp/guard_condition.hpp"
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#include "rclcpp/logging.hpp"
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#include "rclcpp/node.hpp"
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#include "rclcpp/parameter.hpp"
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#include "rclcpp/parameter_client.hpp"
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#include "rclcpp/parameter_service.hpp"
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#include "rclcpp/rate.hpp"
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#include "rclcpp/time.hpp"
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#include "rclcpp/utilities.hpp"
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#include "rclcpp/visibility_control.hpp"
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#include "rclcpp/wait_set.hpp"
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#include "rclcpp/waitable.hpp"
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#endif // RCLCPP__RCLCPP_HPP_
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