add function to call rcl

ros2 · Jan 19, 2023 · 7a217a5 · 7a217a5
1 parent 37adc03
commit 7a217a5
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Showing 2 changed files with 20 additions and 0 deletions.
diff --git a/rclcpp/include/rclcpp/utilities.hpp b/rclcpp/include/rclcpp/utilities.hpp
@@ -330,6 +330,14 @@ RCLCPP_PUBLIC
 std::vector<const char *>
 get_c_vector_string(const std::vector<std::string> & strings_in);
 
+/// Call dds to notify about new network interfaces.
+/**
+ * \param[in] context is the default ROS context.
+ */
+RCLCPP_PUBLIC
+void
+notify_new_networks(Context::SharedPtr context);
+
 }  // namespace rclcpp
 
 #endif  // RCLCPP__UTILITIES_HPP_
diff --git a/rclcpp/src/rclcpp/utilities.cpp b/rclcpp/src/rclcpp/utilities.cpp
@@ -26,6 +26,7 @@
 
 #include "rcl/error_handling.h"
 #include "rcl/rcl.h"
+#include "rcl/node.h"
 
 namespace rclcpp
 {
@@ -227,4 +228,15 @@ get_c_vector_string(const std::vector<std::string> & strings_in)
   return cstrings;
 }
 
+void
+notify_new_networks(Context::SharedPtr context)
+{
+  rcl_ret_t ret = rcl_notify_participant_dynamic_network_interface(context->get_rcl_context().get());
+  if (RCL_RET_OK != ret)
+  {
+    exceptions::throw_from_rcl_error(
+      ret, "failed to notify networks");
+  }
+}
+
 }  // namespace rclcpp