Client Library

+-----------------------------------------------+
|                   user land                   |
+-----------------------------------------------+
|              ROS 2 client library (rcl)       |  <--
+-----------------------------------------------+
|             middleware interface (rmw)        |
+-----------------------------------------------+
| DDS adapter 1 | DDS adapter 2 | DDS adapter 3 |
+---------------+---------------+---------------+
|    DDS impl 1 |    DDS impl 2 |    DDS impl 3 |
+---------------+---------------+---------------+
  • rcl: Library to support implementation of language specific ROS Client Libraries.
  • rcl_interfaces: A repository for messages and services used by the ROS client libraries
  • [rclc](): ROS Client Library for the C language.
  • [rclcpp](): rclcpp (ROS Client Library for C++)
  • [rclpy](): rclpy (ROS Client Library for Python)