rclcpp::node::Node

constructor.cpp

explicit Node(
  const std::string & node_name,
  const std::string & namespace_ = "",
  bool use_intra_process_comms = false);

parameters.cpp

std::vector<rclcpp::parameter::ParameterVariant>
get_parameters(const std::vector<std::string> & names) const;

std::vector<rcl_interfaces::msg::SetParametersResult>
set_parameters(const std::vector<rclcpp::parameter::ParameterVariant> & parameters);

service.cpp

template<typename ServiceT, typename CallbackT>
typename rclcpp::service::Service<ServiceT>::SharedPtr
create_service(
  const std::string & service_name,
  CallbackT && callback,
  const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
  rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);

template<typename ServiceT>
typename rclcpp::client::Client<ServiceT>::SharedPtr
create_client(
  const std::string & service_name,
  const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
  rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);

topic.cpp

template<
  typename MessageT, typename Alloc = std::allocator<void>,
  typename PublisherT = ::rclcpp::publisher::Publisher<MessageT, Alloc>>
std::shared_ptr<PublisherT>
create_publisher(
  const std::string & topic_name,
  const rmw_qos_profile_t & qos_profile = rmw_qos_profile_default,
  std::shared_ptr<Alloc> allocator = nullptr);

template<
  typename MessageT,
  typename CallbackT,
  typename Alloc = std::allocator<void>,
  typename SubscriptionT = rclcpp::subscription::Subscription<MessageT, Alloc>>
std::shared_ptr<SubscriptionT>
create_subscription(
  const std::string & topic_name,
  CallbackT && callback,
  const rmw_qos_profile_t & qos_profile = rmw_qos_profile_default,
  rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr,
  bool ignore_local_publications = false,
  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT, Alloc>::SharedPtr
  msg_mem_strat = nullptr,
  std::shared_ptr<Alloc> allocator = nullptr);

wall_timer.cpp

template<typename DurationT = std::milli, typename CallbackT>
typename rclcpp::timer::WallTimer<CallbackT>::SharedPtr
create_wall_timer(
  std::chrono::duration<int64_t, DurationT> period,
  CallbackT callback,
  rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);