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rclcpp (ROS Client Library for C++)


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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.


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

Visit the rclcpp API documentation for a complete list of its main components.


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.




  • C++ 96.9%
  • CMake 2.4%
  • Other 0.7%