General information about this repository, including legal information, build instructions and known issues/limitations, are given in README.md in the repository root.

The package rcl_wrapper is a small ROS 2 package for providing a lightwaight abstraction on top of RCL to create nodes, publishers, subscribers and timers in a one-liner.

It it similar to rclc, however does not provide a spin() funktion for the node to receive messages. This is intentional because the executor concept shall be implemented a different package, e.g. rcl-executor. Also, it does not create additional data structures, like rclc_node_t, rclc_publisher_t, rclc_subscriber_t etc. in the package rclc, but uses the rcl data structures instead. This light-waight and easy-to-use interface is intended for using ROS2 on micro-controllers without the rclcpp or rclpy.

API:

• rcl_init_wrapper()
• rcl_init_fini_wrapper()
• rcl_create_node_wrapper()
• rcl_node_fini_wrapper()
• rcl_create_publisher_wrapper()
• rcl_publisher_fini_wrapper()
• rcl_create_subscription_wrapper()
• rcl_subscription_fini_wrapper()
• rcl_create_timer_wrapper()
• rcl_timer_fini_wrapper()

A complete code example with the rcl-wrapper and rcl-executor package is provided in the package rcl_executor_examples. See also the corresponding README