// Copyright 2014 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
/** \mainpage rclcpp: ROS Client Library for C++
*
* `rclcpp` provides the canonical C++ API for interacting with ROS.
* It consists of these main components:
*
* - Node
* - rclcpp::Node
* - rclcpp/node.hpp
* - Publisher
* - rclcpp::Node::create_publisher()
* - rclcpp::Publisher
* - rclcpp::Publisher::publish()
* - rclcpp/publisher.hpp
* - Subscription
* - rclcpp::Node::create_subscription()
* - rclcpp::Subscription
* - rclcpp/subscription.hpp
* - Service Client
* - rclcpp::Node::create_client()
* - rclcpp::Client
* - rclcpp/client.hpp
* - Service Server
* - rclcpp::Node::create_service()
* - rclcpp::Service
* - rclcpp/service.hpp
* - Timer
* - rclcpp::Node::create_wall_timer()
* - rclcpp::WallTimer
* - rclcpp::TimerBase
* - rclcpp/timer.hpp
* - Parameters:
* - rclcpp::Node::set_parameters()
* - rclcpp::Node::get_parameters()
* - rclcpp::Node::get_parameter()
* - rclcpp::Node::describe_parameters()
* - rclcpp::Node::list_parameters()
* - rclcpp::Node::add_on_set_parameters_callback()
* - rclcpp::Node::remove_on_set_parameters_callback()
* - rclcpp::Parameter
* - rclcpp::ParameterValue
* - rclcpp::AsyncParametersClient
* - rclcpp::SyncParametersClient
* - rclcpp/parameter.hpp
* - rclcpp/parameter_value.hpp
* - rclcpp/parameter_client.hpp
* - rclcpp/parameter_service.hpp
* - Rate:
* - rclcpp::Rate
* - rclcpp::WallRate
* - rclcpp/rate.hpp
*
* There are also some components which help control the execution of callbacks:
*
* - Executors (responsible for execution of callbacks through a blocking spin):
* - rclcpp::spin()
* - rclcpp::spin_some()
* - rclcpp::spin_until_future_complete()
* - rclcpp::executors::SingleThreadedExecutor
* - rclcpp::executors::SingleThreadedExecutor::add_node()
* - rclcpp::executors::SingleThreadedExecutor::spin()
* - rclcpp::executors::MultiThreadedExecutor
* - rclcpp::executors::MultiThreadedExecutor::add_node()
* - rclcpp::executors::MultiThreadedExecutor::spin()
* - rclcpp/executor.hpp
* - rclcpp/executors.hpp
* - rclcpp/executors/single_threaded_executor.hpp
* - rclcpp/executors/multi_threaded_executor.hpp
* - CallbackGroups (mechanism for enforcing concurrency rules for callbacks):
* - rclcpp::Node::create_callback_group()
* - rclcpp::CallbackGroup
* - rclcpp/callback_group.hpp
*
* Additionally, there are some methods for introspecting the ROS graph:
*
* - Graph Events (a waitable event object that wakes up when the graph changes):
* - rclcpp::Node::get_graph_event()
* - rclcpp::Node::wait_for_graph_change()
* - rclcpp::Event
* - List topic names and types:
* - rclcpp::Node::get_topic_names_and_types()
* - Get the number of publishers or subscribers on a topic:
* - rclcpp::Node::count_publishers()
* - rclcpp::Node::count_subscribers()
*
* And components related to logging:
*
* - Logging macros:
* - Some examples (not exhaustive):
* - RCLCPP_DEBUG()
* - RCLCPP_INFO()
* - RCLCPP_WARN_ONCE()
* - RCLCPP_ERROR_SKIPFIRST()
* - rclcpp/logging.hpp
* - Logger:
* - rclcpp::Logger
* - rclcpp/logger.hpp
* - rclcpp::Node::get_logger()
*
* Finally, there are many internal API's and utilities:
*
* - Exceptions:
* - rclcpp/exceptions.hpp
* - Allocator related items:
* - rclcpp/allocator/allocator_common.hpp
* - rclcpp/allocator/allocator_deleter.hpp
* - Generic publisher
* - rclcpp::Node::create_generic_publisher()
* - rclcpp::GenericPublisher
* - rclcpp::GenericPublisher::publish()
* - rclcpp/generic_publisher.hpp
* - Generic subscription
* - rclcpp::Node::create_generic_subscription()
* - rclcpp::GenericSubscription
* - rclcpp/generic_subscription.hpp
* - Memory management tools:
* - rclcpp/memory_strategies.hpp
* - rclcpp/memory_strategy.hpp
* - rclcpp/message_memory_strategy.hpp
* - rclcpp/strategies/allocator_memory_strategy.hpp
* - rclcpp/strategies/message_pool_memory_strategy.hpp
* - Context object which is shared amongst multiple Nodes:
* - rclcpp::Context
* - rclcpp/context.hpp
* - rclcpp/contexts/default_context.hpp
* - Various utilities:
* - rclcpp/duration.hpp
* - rclcpp/function_traits.hpp
* - rclcpp/macros.hpp
* - rclcpp/scope_exit.hpp
* - rclcpp/time.hpp
* - rclcpp/utilities.hpp
* - rclcpp/typesupport_helpers.hpp
* - rclcpp/visibility_control.hpp
*/
#ifndef RCLCPP__RCLCPP_HPP_
#define RCLCPP__RCLCPP_HPP_
#include