rosidl_typesupport_c features

rosidl_typesupport_c provides a Python generator executable, rosidl_typesupport_c, based on Empy to create rosidl C source files.

The templates utilized by this generator executable are located in the resource directory and generate source files for messages, services and actions.

The generator also generates a visibility_control header based on https://gcc.gnu.org/wiki/Visibility.

rosidl_typesupport_c defines a typesupport identifier, which is declared in identifier.h.

rosidl_typesupport_c provides the following functionality for incorporation into generated typesupport source files.

• message_type_support_dispatch.h: Look up message type support handle functions from available libraries.

• service_type_support_dispatch.h: Look up service type support handle functions from available libraries.

• type_support_map_t.h: This defines the lookup of C typesupport handlers.