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.

rclcpp extension for the Executor made by RTI-BDI

NOTE: modifications are going to be performed exclusively to the foxy branch. Jump there to check them out!