About this fork repository

Active branches:

• master — Branch with GitHub Actions; very outdated and not intended for practical use.
• t4-main — Based on Humble with TIER IV-specific commits; long out of sync with upstream.
• jazzy — Kept in sync with upstream jazzy; includes TIER IV-specific commits.
• humble — Kept in sync with upstream humble; includes TIER IV-specific commits.

rclcpp

This repository contains the source code for the ROS Client Library for C++ package, included with a standard install of any ROS 2 distro.

rclcpp provides the standard C++ API for interacting with ROS 2.

Usage

#include "rclcpp/rclcpp.hpp" allows use of the most common elements of the ROS 2 system.

The link to the latest API documentation can be found on the rclcpp package info page, at the ROS Index.

Examples

The ROS 2 tutorials Writing a simple publisher and subscriber. and Writing a simple service and client contain some examples of rclcpp APIs in use.