rslcpp_dynamic_node_composition

rslcpp_dynamic_node_composition

Dynamic loading of ROS 2 composable nodes (rclcpp components) from the command line.

This package is used by rslcpp_dynamic_job, but you can also use it directly in your own main() if you want runtime-configurable node sets.

What you get

• rslcpp::dynamic_composition::ComponentDescription
• rslcpp::dynamic_composition::ComponentLoader
• parse_components_from_command_line_arguments(argc, argv)

Header: include/rslcpp_dynamic_node_composition/composition.hpp

CLI format

The parser recognizes component blocks before --ros-args:

--component <package_name> <fully_qualified_component_class> \
  [--component-ros-args <component_ros_args...>] \
--component <package_name> <fully_qualified_component_class> \
  [--component-ros-args <component_ros_args...>] \
--ros-args <global_ros_args...>

Notes:

• Each --component must have at least <package_name> <component_class>.
• If you want per-component arguments, you must start them with --component-ros-args.
• The function modifies argc/argv: it strips the parsed component arguments so the remaining args can be passed to rclcpp.

Programmatic use

#include <rslcpp_dynamic_node_composition/composition.hpp>

int main(int argc, char ** argv)
{
  auto components = rslcpp::dynamic_composition::parse_components_from_command_line_arguments(argc, argv);

  rclcpp::NodeOptions options;
  options.use_intra_process_comms(true);

  rslcpp::dynamic_composition::ComponentLoader loader;
  auto nodes = loader.load_and_create_nodes(components, options);

  // Add nodes to your executor...
}

How components are found

The loader resolves the shared library path via the ament index (rclcpp_components resource) and then instantiates:

• rclcpp_components::NodeFactoryTemplate<YourComponentClass>

If a component cannot be found, it throws rslcpp::dynamic_composition::exceptions::ComponentNotFound.