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FEATURES.md

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rosidl_runtime_cpp Features

Typesupport function handler

rosidl_runtime_cpp provides several templated function declarations for getting the type support handler. They are meant to be defined in each rosidl definition's C++ generated code. They are defined for both the rosidl_runtime_cpp and rosidl_typesupport_cpp namespaces.

rosidl_runtime_cpp

  • Messages (message_type_support_decl.hpp)
  • Services (service_type_support_decl.hpp)
  • Actions (action_type_support_decl.hpp)

rosidl_typesupport_cpp

  • Messages (message_type_support.hpp)
  • Services (service_type_support.hpp)
  • Actions (action_type_support.hpp)

C++ Type Traits

rosidl_runtime_c provides numerous C++ Type Traits for rosidl interfaces in traits.hpp. These type traits are useful for providing compile-time checks of rosidl C++ types.

Bounded Vector

Provided in bounded_vector.hpp is an implementation of a std::vector like container class, that has a bounded capacity. This class is utilized by rosidl types that declare a bounded sequence.

Type Description Interface Structs

A copy of the output of rosidl_generator_cpp for type_description_interfaces messages. The copy is needed to avoid a circular dependency - type_description_interfaces would be used directly for code generation, except as an interface package like any other, it depends on rosidl_runtime_cpp to have its code generated.

Provides base runtime representations of the descriptions of interface types in C++. These can be used in code generation to embed descriptions of types, and can be used for programmatic creation of dynamic types. The types are renamed so that they do not overlap with type_description_interfaces - and can be used in their code generation so that even those messages are self-describing.

Note that end users will typically fetch and use the type_description_interfaces::msg::TypeDescription and its members instead of the rosidl_runtime_cpp types. Functions will be provided in rclcpp that convert between rosidl_runtime_cpp::type_description and type_description_interfaces::msg types.

See rosidl/scripts/copy_type_descripiton_generated_sources.bash for usage and details of how sources are copied/updated, and what modifications are made.