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‎_docs/tutorials/programming_rcl_rclc/executor/executor.md‎

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---
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title: Executor and timers
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permalink: /docs/tutorials/programming_rcl_rclc/micro-ROS/
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---
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// TODO: Use existing tutorial if possible

‎_docs/tutorials/programming_rcl_rclc/node/node.md‎

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permalink: /docs/tutorials/programming_rcl_rclc/node/
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---
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## <a name="node"/>Nodes
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ROS 2 nodes are the ground element on ROS2 ecosystem. They will contain communicate between each other using publishers, subscriptions, services, ... .Further information about ROS 2 nodes can be found [here](https://docs.ros.org/en/galactic/Tutorials/Understanding-ROS2-Nodes.html)
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## <a name="init_node"/>Creating a node
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// TODO: explain general micro-ROS initialization (allocator and support)
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## <a name="init_node"/>Initialization
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// TODO: explain reliable vs best_effort
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- Create a node with default configuration:
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```C
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// Initialize micro-ROS allocator
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rcl_allocator_t allocator = rcl_get_default_allocator();
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- Create a node:
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```C
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// TODO: explain allocator and support
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rcl_allocator_t allocator = rcl_get_default_allocator();
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rclc_support_t support;
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rcl_ret_trc = rclc_support_init(&support, argc, argv, &allocator);
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if (rc != RCL_RET_OK) {
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printf("Error creating support object\n");
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return -1;
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}
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// Node object
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rcl_node_t node;
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const char * node_name = "test_node";
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const char * namespace = "test_namespace";
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rc = rclc_node_init_default(&node, node_name, namespace, &support);
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if (rc != RCL_RET_OK) {
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// Handle error
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printf("Error creating node\n");
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return -1;
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}
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// Initialize support object
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rclc_support_t support;
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rcl_ret_t rc = rclc_support_init(&support, argc, argv, &allocator);
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```
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// Create node object
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rcl_node_t node;
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const char * node_name = "test_node";
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## <a name="end_node"/>Destroy a node
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// Node namespace (Can remain empty "")
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const char * namespace = "test_namespace";
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```C
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// Destroy a node
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rc = rcl_node_fini(&node);
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// Init default node
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rc = rclc_node_init_default(&node, node_name, namespace, &support);
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if (rc != RCL_RET_OK) {
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... // Handle error
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return -1;
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}
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```
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if (rc == RCL_RET_OK) {
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printf("Error destroying node\n");
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}
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```
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- Create a node with custom options:
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## <a name="node_opt"/>Node options
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Node configuration will also be applied to its future elements (Publishers, subscribers, services, ...).
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// TODO: explain possible options and their meaning
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```C
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// TODO: explain allocator and support
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rcl_allocator_t allocator = rcl_get_default_allocator();
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rclc_support_t support;
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The API used to customize the node options differs between ROS2 distributions:
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Foxy: The `rcl_node_options_t` is used to configure the node
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```C
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// Initialize allocator and support objects
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...
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// Create node object
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rcl_node_t node;
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const char * node_name = "test_node";
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// Node namespace (Can remain empty "")
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const char * namespace = "test_namespace";
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// Get default node options and modify them
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rcl_node_options_t node_ops = rcl_node_get_default_options();
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// Set node ROS domain ID to 10
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node_ops.domain_id = (size_t)(10);
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// Init node with custom options
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rc = rclc_node_init_with_options(&node, node_name, namespace, &support, &node_ops);
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// Node object
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rcl_node_t node;
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const char * node_name = "test_node";
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const char * namespace = "test_namespace";
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if (rc != RCL_RET_OK) {
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... // Handle error
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return -1;
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}
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```
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// TODO: explain options
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rcl_node_options_t node_options = rcl_node_get_default_options();
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Galactic: In this case, the node options are configured on the `rclc_support_t` object with a custom API
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rc = rclc_node_init_default(&node, node_name, namespace, &support, &node_options);
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if (rc != RCL_RET_OK) {
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printf("Error creating node\n");
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return -1;
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}
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```C
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// Initialize micro-ROS allocator
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rcl_allocator_t allocator = rcl_get_default_allocator();
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// Initialize and modify options (Set DOMAIN ID to 10)
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rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
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rcl_init_options_init(&init_options, allocator);
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rcl_init_options_set_domain_id(&init_options, 10);
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// Initialize rclc support object with custom options
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rclc_support_t support;
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rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator);
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// Create node object
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rcl_node_t node;
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const char * node_name = "test_node";
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// Node namespace (Can remain empty "")
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const char * namespace = "test_namespace";
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// Init node with configured support object
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rclc_node_init_default(&node, node_name, namespace, &support);
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if (rc != RCL_RET_OK) {
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... // Handle error
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return -1;
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}
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```
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### <a name="node_end"/>Cleaning Up
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To destroy a initialized node all entities owned by the node (Publishers, subscribers, services, ...) needs to be destroyed before the node itself:
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```C
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// Destroy created entities
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...
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// Destroy a node
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rcl_node_fini(&node);
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```
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```
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This will delete any automatically created infrastructure on the agent (if possible) and deallocate used memory on the client side.

‎_docs/tutorials/programming_rcl_rclc/overview/index.md‎

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* [**Publishers and Subscriptions**](../pub_sub/)
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* [**Services**](../service/)
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* [**Parameters**](../parameters/)
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* [**Executor and timers**](../executor/)
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* [**QoS**](../qos/)
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* [**micro-ROS Utils**](../micro-ROS/)

‎_docs/tutorials/programming_rcl_rclc/parameters/parameters.md‎

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ROS 2 parameter allow the user to create variables on a node and manipulate/read them with different ROS2 commands. Further information about ROS 2 parameters can be found [here](https://docs.ros.org/en/galactic/Tutorials/Parameters/Understanding-ROS2-Parameters.html)
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Ready to use code related to this tutorial can be found in [`micro-ROS-demos/rclc/parameter_server`](https://github.com/micro-ROS/micro-ROS-demos/blob/galactic/rclc/parameter_server/main.c) folder. Fragments of code from this example is used on this tutorial.
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Ready to use code related to this tutorial can be found in [`rclc/rclc_examples/src/`](https://github.com/ros2/rclc/blob/master/rclc_examples/src/example_parameter_server.c) folder. Fragments of code from this example is used on this tutorial.
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Note: micro-ROS parameter server is only supported on ROS2 galactic distribution
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rc = rclc_parameter_get_double(&param_server, parameter_name, &param_value);
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```
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## <a name="parameters_end"/>Destroy the parameter server
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## <a name="parameters_end"/>Cleaning up
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To destroy an initialized parameter server:
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```C
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// Delete parameter server
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rcl_ret_t rc = rclc_parameter_server_fini(&param_server, &node);
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rclc_parameter_server_fini(&param_server, &node);
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```
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if (rc == RCL_RET_OK) {
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... // Handle error
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return -1;
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}
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```
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This will delete any automatically created infrastructure on the agent (if possible) and deallocate used memory on the client side.

‎_docs/tutorials/programming_rcl_rclc/pub_sub/pub_sub.md‎

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permalink: /docs/tutorials/programming_rcl_rclc/pub_sub/
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ROS 2 publishers and subscribers are the basic communication mechanism between nodes using topics. Further information about ROS 2 publish–subscribe pattern can be found [here](https://docs.ros.org/en/foxy/Tutorials/Topics/Understanding-ROS2-Topics.html)
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ROS 2 publishers and subscribers are the basic communication mechanism between nodes using topics. Further information about ROS 2 publish–subscribe pattern can be found [here](https://docs.ros.org/en/foxy/Tutorials/Topics/Understanding-ROS2-Topics.html).
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Ready to use code related to this tutorial can be found in [`micro-ROS-demos/rclc/int32_publisher`](https://github.com/micro-ROS/micro-ROS-demos/blob/foxy/rclc/int32_publisher/main.c) and [`micro-ROS-demos/rclc/int32_subscriber`](https://github.com/micro-ROS/micro-ROS-demos/blob/foxy/rclc/int32_subscriber/main.c) folders. Fragments of code from this examples are used on this tutorial.
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Note: `rcl_publish` is thread safe and can be called from multiple threads.
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## <a name="pub_end"/>Destroy a publisher
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Deallocates memory
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After finishing the publisher, the node will no longer be advertising that it is publishing
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on this topic (assuming this is the only publisher on this topic).
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```C
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// Destroy publisher
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rcl_ret_t rc = rcl_publisher_fini(&publisher, &node);
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if (rc == RCL_RET_OK) {
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... // Handle error
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return -1;
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}
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```
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Note: Publishers needs to be destroyed before its containing node
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## <a name="sub"/>Subscription
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}
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```
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### <a name="sub_end"/>Destroy a subscriber
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Destroy subscriber (Publisher needs to be destroyed manually before the node)
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Destroys any automatically created infrastructure and deallocates memory.
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### <a name="pubsub_end"/>Cleaning Up
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```C
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// Destroy
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rcl_ret_t rc = rcl_publisher_fini(&subscriber, &node);
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To destroy an initialized publisher or subscriber:
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if (RCL_RET_OK != rc) {
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... // Handle error
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return -1;
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}
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```C
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// Destroy publisher and subscriber
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rcl_publisher_fini(&publisher, &node);
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rcl_subscription_fini(&subscriber, &node);
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```
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After finishing the publisher/subscriber, the node will no longer be advertising that it is publishing/listening on the topic.
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This will delete any automatically created infrastructure on the agent (if possible) and deallocate used memory on the client side.

‎_docs/tutorials/programming_rcl_rclc/service/services.md‎

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// Spin the executor to get the response
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rclc_executor_spin(&executor);
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```
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### <a name="services_end"/>Cleaning Up
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To destroy an initialized service or client:
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```C
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// Destroy service server and client
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rcl_service_fini(&service, &node);
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rcl_client_fini(&client, &node);
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```
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This will delete any automatically created infrastructure on the agent (if possible) and deallocate used memory on the client side.

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