![]() Basic Types 7.4.1.4.4.2.1 Integer Types IDL typeħ.4.1.4.4.2.2 Floating-Point Types IDL type 7.4.1.4.3 Constants 7.4.1.4.4.4.1 StructuresĪ structure must contain at least one member. ![]() The second module level distinguishes the type of the interface ( msg, srv,Īction). 7.4.1.4.2 ModulesĮach module must contain at least one definition and they can be nested.įor ROS interfaces the first module level commonly represents the package name, 7.2.6 LiteralsĪll of the following literals are supported:Īt the moment there is no preprocessing happening when reading the `.idl files. 7.2.3 IdentifiersĪn identifier must start with an is an ASCII alphabetic characteran followed by any number of ASCII alphabetic, digit and underscore ( _) characters. ![]() Lexical Conventions 7.2.2 Commentsīoth line comments ( //) as well as block comments ( /*. Whatever is not listed below is probably not supported at the moment (e.g. ROS 2 supports a subset of the OMG IDL 4.2 specification. This article identifies a subset of the Interface Definition Language (IDL) that can be used to describe interfaces between components.įurther it describes how the interfaces are used to generate code in C, C++ and Python. This describes defining interfaces using a subset of the Interface Definition Language (IDL).
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