Free Functions (Stage 1)

These free functions are used with rclcpp::Node at Stage 1. Pass the node pointer as the first argument.

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create_publisher()

cpp agnocast::Publisher<MessageT>::SharedPtr create_publisher(NodeT *node, std::string &topic_name, rclcpp::QoS &qos, agnocast::PublisherOptions &options)

Create an Agnocast publisher (Stage 1 free function, QoS overload).

Template Parameter	Description
MessageT	ROS message type.
NodeT	Node type (rclcpp::Node or agnocast::Node).
Parameter	Default
node	—
topic_name	—
qos	—
options	agnocast::PublisherOptions{}
Returns	Shared pointer to the created publisher.

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create_publisher() [overload 2]

cpp agnocast::Publisher<MessageT>::SharedPtr create_publisher(NodeT *node, std::string &topic_name, size_t qos_history_depth, agnocast::PublisherOptions &options)

Create an Agnocast publisher (Stage 1 free function, history-depth overload).

Template Parameter	Description
MessageT	ROS message type.
NodeT	Node type (rclcpp::Node or agnocast::Node).
Parameter	Default
node	—
topic_name	—
qos_history_depth	—
options	agnocast::PublisherOptions{}
Returns	Shared pointer to the created publisher.

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create_subscription()

cpp agnocast::Subscription<MessageT>::SharedPtr create_subscription(NodeT *node, std::string &topic_name, rclcpp::QoS &qos, Func &&callback, agnocast::SubscriptionOptions options)

Create an Agnocast subscription (Stage 1 free function, QoS overload).

Template Parameter	Description
MessageT	ROS message type.
NodeT	Node type (rclcpp::Node or agnocast::Node).
Func	Callback callable with void(agnocast::ipc_shared_ptr&&).
Parameter	Default
node	—
topic_name	—
qos	—
callback	—
options	agnocast::SubscriptionOptions{}
Returns	Shared pointer to the created subscription.

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create_subscription() [overload 2]

cpp agnocast::Subscription<MessageT>::SharedPtr create_subscription(NodeT *node, std::string &topic_name, size_t qos_history_depth, Func &&callback, agnocast::SubscriptionOptions options)

Create an Agnocast subscription (Stage 1 free function, history-depth overload).

Template Parameter	Description
MessageT	ROS message type.
NodeT	Node type (rclcpp::Node or agnocast::Node).
Func	Callback callable with void(agnocast::ipc_shared_ptr&&).
Parameter	Default
node	—
topic_name	—
qos_history_depth	—
callback	—
options	agnocast::SubscriptionOptions{}
Returns	Shared pointer to the created subscription.

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create_subscription() [overload 3]

cpp agnocast::PollingSubscriber<MessageT>::SharedPtr create_subscription(NodeT *node, std::string &topic_name, size_t qos_history_depth)

Create an Agnocast polling subscription (Stage 1 free function, history-depth overload).

Template Parameter	Description
MessageT	ROS message type.
NodeT	Node type (rclcpp::Node or agnocast::Node).
Parameter	Description
node	Pointer to the node.
topic_name	Topic name.
qos_history_depth	History depth for the QoS profile.
Returns	Shared pointer to the created polling subscription.

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create_subscription() [overload 4]

cpp agnocast::PollingSubscriber<MessageT>::SharedPtr create_subscription(NodeT *node, std::string &topic_name, rclcpp::QoS &qos)

Create an Agnocast polling subscription (Stage 1 free function, QoS overload).

Template Parameter	Description
MessageT	ROS message type.
NodeT	Node type (rclcpp::Node or agnocast::Node).
Parameter	Description
node	Pointer to the node.
topic_name	Topic name.
qos	Quality of service profile.
Returns	Shared pointer to the created polling subscription.

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create_client()

cpp agnocast::Client<ServiceT>::SharedPtr create_client(rclcpp::Node *node, std::string &service_name, rclcpp::QoS &qos, rclcpp::CallbackGroup::SharedPtr group)

Create an Agnocast service client (Stage 1 free function).

Template Parameter	Description
ServiceT	ROS service type.
Parameter	Default
node	—
service_name	—
qos	rclcpp::ServicesQoS()
group	nullptr
Returns	Shared pointer to the created client.

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create_service()

cpp agnocast::Service<ServiceT>::SharedPtr create_service(rclcpp::Node *node, std::string &service_name, Func &&callback, rclcpp::QoS &qos, rclcpp::CallbackGroup::SharedPtr group)

Create an Agnocast service server (Stage 1 free function).

Template Parameter	Description
ServiceT	ROS service type.
Func	Callable with signature void(const agnocast::ipc_shared_ptr&, agnocast::ipc_shared_ptr&).
Parameter	Default
node	—
service_name	—
callback	—
qos	rclcpp::ServicesQoS()
group	nullptr
Returns	Shared pointer to the created service.

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create_timer()

cpp agnocast::TimerBase::SharedPtr create_timer(NodeT node, rclcpp::Clock::SharedPtr clock, rclcpp::Duration period, CallbackT &&callback, rclcpp::CallbackGroup::SharedPtr group, bool autostart)

Create a timer with a given clock. This free function mirrors the rclcpp::create_timer() API for portability.

Template Parameter	Description
NodeT	Node type (rclcpp::Node or agnocast::Node).
CallbackT	Callable type for the callback.
Parameter	Default
node	—
clock	—
period	—
callback	—
group	nullptr
autostart	true
Returns	Shared pointer to the created timer.

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init()

cpp void init(int argc, char **argv)

Initialize Agnocast. Must be called once before creating any agnocast::Node . This is the counterpart of rclcpp::init() for agnocast::Node .

Parameter	Description
argc	Number of command-line arguments.
argv	Command-line argument array.

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shutdown()

cpp void shutdown()

Shut down Agnocast. Should be called before process exit in agnocast::Node processes. This is the counterpart of rclcpp::shutdown() for agnocast::Node.