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Add API reference tab
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‎_data/docs.yml‎

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- tutorials/demos/thumper_demo
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- tutorials/demos/combined_demos
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- tutorials/demos/moveit2_demo
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- title: API reference
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docs:
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- api/overview
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- api/rmw
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- api/rclc

‎_docs/api/overview/index.md‎

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---
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title: Overview
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permalink: /docs/api/overview/
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redirect_from:
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- /docs/api/
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---
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TODO
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* [**RMW Micro XRCE-DDS**](../rmw/)
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TODO
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* [**RCLC**](../rclc/)
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TODO

‎_docs/api/rclc/index.md‎

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---
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title: RCLC
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permalink: /docs/api/rclc/
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---
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TODO

‎_docs/api/rmw/index.md‎

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---
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title: RMW
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permalink: /docs/api/rmw/
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---
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{% include rmw_doc/Modules/group__rmw.md %}

‎_includes/docs_nav.html‎

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{% if page.path contains "_docs/tutorials" and section.title == "Demos" %}
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{% assign should_show_this_menu = true %}
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{% endif %}
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{% if page.path contains "_docs/api" and section.title == "API reference" %}
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{% assign should_show_this_menu = true %}
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{% endif %}
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{% if should_show_this_menu == true %}
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<div class="panel panel-default">
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<div class="panel-heading">

‎_includes/rmw_doc/Modules/group__rmw.md‎

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# micro-ROS RMW API
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TODO.
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## Functions
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| | Name |
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| -------------- | -------------- |
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| void | **[rmw_uros_set_continous_serialization_callbacks](#function-rmw_uros_set_continous_serialization_callbacks)**(rmw_publisher_t * publisher, rmw_uros_continous_serialization_size size_cb, rmw_uros_continous_serialization serialization_cb)<br>Sets the callback functions for continous serialization for a publisher. |
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| rmw_ret_t | **[rmw_uros_set_custom_transport](#function-rmw_uros_set_custom_transport)**(bool framing, void * args, open_custom_func open_cb, close_custom_func close_cb, write_custom_func write_cb, read_custom_func read_cb)<br>Check if micro-ROS Agent answers to micro-ROS client. |
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| rmw_ret_t | **[rmw_uros_discover_agent](#function-rmw_uros_discover_agent)**(rmw_init_options_t * rmw_options)<br>Fills rmw implementation-specific options with the autodicovered address of an micro-ROS Agent. |
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| rmw_ret_t | **[rmw_uros_init_options](#function-rmw_uros_init_options)**(int argc, const char *const argv[], rmw_init_options_t * rmw_options)<br>Parses command line args and fills rmw implementation-specific options. |
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| rmw_ret_t | **[rmw_uros_options_set_serial_device](#function-rmw_uros_options_set_serial_device)**(const char * dev, rmw_init_options_t * rmw_options)<br>Fills rmw implementation-specific options with the given parameters. |
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| rmw_ret_t | **[rmw_uros_options_set_udp_address](#function-rmw_uros_options_set_udp_address)**(const char * ip, const char * port, rmw_init_options_t * rmw_options)<br>Fills rmw implementation-specific options with the given parameters. |
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| rmw_ret_t | **[rmw_uros_options_set_client_key](#function-rmw_uros_options_set_client_key)**(uint32_t client_key, rmw_init_options_t * rmw_options)<br>Fills rmw implementation-specific options with the given parameters. |
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| rmw_ret_t | **[rmw_uros_ping_agent](#function-rmw_uros_ping_agent)**(const int timeout_ms, const uint8_t attempts)<br>Check if micro-ROS Agent is up and running. |
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| bool | **[rmw_uros_epoch_synchronized](#function-rmw_uros_epoch_synchronized)**()<br>Returns the time synchronization state of the epoch time. |
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| int64_t | **[rmw_uros_epoch_millis](#function-rmw_uros_epoch_millis)**()<br>Returns the epoch time in milliseconds taking into account the offset computed during the time synchronization. |
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| int64_t | **[rmw_uros_epoch_nanos](#function-rmw_uros_epoch_nanos)**()<br>Returns the epoch time in nanoseconds taking into account the offset computed during the time synchronization. |
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| rmw_ret_t | **[rmw_uros_sync_session](#function-rmw_uros_sync_session)**(const int timeout_ms)<br>Synchronizes the session time using the NTP protocol. |
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## Functions Documentation
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### function rmw_uros_set_continous_serialization_callbacks
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```cpp
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void rmw_uros_set_continous_serialization_callbacks(
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rmw_publisher_t * publisher,
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rmw_uros_continous_serialization_size size_cb,
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rmw_uros_continous_serialization serialization_cb
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)
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```
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Sets the callback functions for continous serialization for a publisher.
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**Parameters**:
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* **publisher** publisher where continous serialization is being configured
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* **size_cb** callback that should modify the total serialization size
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* **serialization_cb** callback that should serialize the user part of the message
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### function rmw_uros_set_custom_transport
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```cpp
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rmw_ret_t rmw_uros_set_custom_transport(
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bool framing,
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void * args,
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open_custom_func open_cb,
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close_custom_func close_cb,
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write_custom_func write_cb,
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read_custom_func read_cb
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)
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```
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Check if micro-ROS Agent answers to micro-ROS client.
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**Parameters**:
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* **framing** Enable XRCE framing.
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* **args** Arguments for open function.
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* **open_cb** Open transport callback.
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* **close_cb** Close transport callback.
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* **write_cb** Write transport callback.
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* **read_cb** Read transport callback.
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**Return**:
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* RMW_RET_OK If correct.
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* RMW_RET_ERROR If invalid.
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### function rmw_uros_discover_agent
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```cpp
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rmw_ret_t rmw_uros_discover_agent(
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rmw_init_options_t * rmw_options
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)
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```
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Fills rmw implementation-specific options with the autodicovered address of an micro-ROS Agent.
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**Parameters**:
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* **rmw_options** Updated options with rmw specifics.
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**Return**:
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* RMW_RET_OK If arguments were valid and set in rmw_init_options.
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* RMW_RET_TIMEOUT If micro-ROS agent autodiscovery is timeout.
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* RMW_RET_INVALID_ARGUMENT If rmw_init_options is not valid or unexpected arguments.
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### function rmw_uros_init_options
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```cpp
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rmw_ret_t rmw_uros_init_options(
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int argc,
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const char *const argv[],
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rmw_init_options_t * rmw_options
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)
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```
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Parses command line args and fills rmw implementation-specific options.
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**Parameters**:
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* **argc** Number of arguments.
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* **argv** Arguments.
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* **rmw_options** Updated options with rmw specifics.
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**Return**:
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* RMW_RET_OK If arguments were valid and set in rmw_init_options.
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* RMW_RET_INVALID_ARGUMENT If rmw_init_options is not valid or unexpected arguments.
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`rmw_init_options allocator` is used to allocate the specific rmw options.
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### function rmw_uros_options_set_serial_device
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```cpp
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rmw_ret_t rmw_uros_options_set_serial_device(
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const char * dev,
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rmw_init_options_t * rmw_options
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)
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```
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Fills rmw implementation-specific options with the given parameters.
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**Parameters**:
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* **dev** Serial device.
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* **rmw_options** Updated options with rmw specifics.
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**Return**:
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* RMW_RET_OK If arguments were valid and set in rmw_init_options.
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* RMW_RET_INVALID_ARGUMENT If rmw_init_options is not valid or unexpected arguments.
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### function rmw_uros_options_set_udp_address
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```cpp
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rmw_ret_t rmw_uros_options_set_udp_address(
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const char * ip,
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const char * port,
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rmw_init_options_t * rmw_options
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)
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```
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Fills rmw implementation-specific options with the given parameters.
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**Parameters**:
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* **ip** Agent IP address.
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* **port** Agent UDP port.
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* **rmw_options** Updated options with rmw specifics.
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**Return**:
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* RMW_RET_OK If arguments were valid and set in rmw_init_options.
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* RMW_RET_INVALID_ARGUMENT If rmw_init_options is not valid or unexpected arguments.
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### function rmw_uros_options_set_client_key
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```cpp
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rmw_ret_t rmw_uros_options_set_client_key(
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uint32_t client_key,
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rmw_init_options_t * rmw_options
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)
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```
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Fills rmw implementation-specific options with the given parameters.
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**Parameters**:
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* **client_key** MicroXRCE-DDS client key.
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* **rmw_options** Updated options with rmw specifics.
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**Return**:
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* RMW_RET_OK If arguments were valid and set in rmw_init_options.
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* RMW_RET_INVALID_ARGUMENT If rmw_init_options is not valid or unexpected arguments.
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### function rmw_uros_ping_agent
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```cpp
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rmw_ret_t rmw_uros_ping_agent(
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const int timeout_ms,
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const uint8_t attempts
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)
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```
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Check if micro-ROS Agent is up and running.
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**Parameters**:
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* **timeout_ms** Timeout in ms (per attempt).
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* **attempts** Number of tries before considering the ping as failed.
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**Return**:
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* RMW_RET_OK If micro-ROS Agent is available.
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* RMW_RET_ERROR If micro-ROS Agent is not available.
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This function can be called even when the micro-ROS context has not yet been initialized by the application logics.
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### function rmw_uros_epoch_synchronized
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```cpp
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bool rmw_uros_epoch_synchronized()
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```
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Returns the time synchronization state of the epoch time.
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**Return**: true if last time synchronization succeded and false otherwise
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### function rmw_uros_epoch_millis
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```cpp
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int64_t rmw_uros_epoch_millis()
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```
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Returns the epoch time in milliseconds taking into account the offset computed during the time synchronization.
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**Return**:
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* epoch time in milliseconds.
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* 0 if session is not initialized.
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### function rmw_uros_epoch_nanos
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```cpp
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int64_t rmw_uros_epoch_nanos()
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```
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Returns the epoch time in nanoseconds taking into account the offset computed during the time synchronization.
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**Return**:
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* epoch time in nanoseconds.
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* 0 if session is not initialized.
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### function rmw_uros_sync_session
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```cpp
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rmw_ret_t rmw_uros_sync_session(
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const int timeout_ms
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)
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```
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Synchronizes the session time using the NTP protocol.
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**Parameters**:
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* **timeout_ms** The waiting time in milliseconds.
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**Return**:
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* RMW_RET_OK when success.
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* RMW_RET_ERROR If no session is running or the synchronization fails.
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-------------------------------

‎_includes/rmw_doc/index_groups.md‎

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# Modules
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* **group [micro-ROS RMW API](Modules/group__rmw.md)** <br>TODO.
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-------------------------------

‎_includes/topnav.html‎

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<li {% if page.path contains '_docs/overview' %} class="active" {% endif %}><a href="{{ "/docs/overview/" | prepend: site.baseurl }}">Overview</a></li>
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<li {% if page.path contains '_docs/concepts' %} class="active" {% endif %}><a href="{{ "/docs/concepts/" | prepend: site.baseurl }}">Concepts</a></li>
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<li {% if page.path contains '_docs/tutorials' %} class="active" {% endif %}><a href="{{ "/docs/tutorials/" | prepend: site.baseurl }}">Tutorials</a></li>
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<li {% if page.path contains '_docs/api' %} class="active" {% endif %}><a href="{{ "/docs/api/" | prepend: site.baseurl }}">API reference</a></li>
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<li {% if page.sectionid=='posts' %} class="active" {% endif %}><a href="{{ site.posts.first.url | prepend: site.baseurl }}">Blog</a></li>
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</ul>
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<ul class="nav navbar-nav navbar-right">

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