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‎_data/docs.yml‎

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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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- title: API
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docs:
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- api/overview
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- api/rmw

‎_docs/api/overview/index.md‎

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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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* [**RCLC**](../rclc/)

‎_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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{% if page.path contains "_docs/api" and section.title == "API" %}
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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 %}

‎_includes/rmw_doc/Modules/group__rmw.md‎

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# micro-ROS RMW API
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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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| | 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

‎_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.path contains '_docs/api' %} class="active" {% endif %}><a href="{{ "/docs/api/" | prepend: site.baseurl }}">API</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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