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micro-ROS RMW API reference auto-update 29-07-2021 06:27 #331

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Merged
pablogs9 merged 1 commit into from
Jul 29, 2021
Merged

micro-ROS RMW API reference auto-update 29-07-2021 06:27 #331

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72 changes: 72 additions & 0 deletions _includes/rmw_doc/Modules/group__rmw.md
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,9 @@
| int64_t | **[rmw_uros_epoch_millis](#function-rmw_uros_epoch_millis)**()<br>Returns the epoch time in milliseconds taking into account the offset computed during the time synchronization. |
| int64_t | **[rmw_uros_epoch_nanos](#function-rmw_uros_epoch_nanos)**()<br>Returns the epoch time in nanoseconds taking into account the offset computed during the time synchronization. |
| rmw_ret_t | **[rmw_uros_sync_session](#function-rmw_uros_sync_session)**(const int timeout_ms)<br>Synchronizes the session time using the NTP protocol. |
| rmw_ret_t | **[rmw_uros_set_publisher_session_timeout](#function-rmw_uros_set_publisher_session_timeout)**(rmw_publisher_t * publisher, int session_timeout)<br>Sets the DDS-XRCE session spin time in reliable publication. |
| rmw_ret_t | **[rmw_uros_set_service_session_timeout](#function-rmw_uros_set_service_session_timeout)**(rmw_service_t * service, int session_timeout)<br>Sets the DDS-XRCE session spin time in reliable service server. |
| rmw_ret_t | **[rmw_uros_set_client_session_timeout](#function-rmw_uros_set_client_session_timeout)**(rmw_client_t * client, int session_timeout)<br>Sets the DDS-XRCE session spin time in reliable service client. |


## Functions Documentation
Expand Down Expand Up @@ -276,6 +279,75 @@ Synchronizes the session time using the NTP protocol.
* RMW_RET_ERROR If no session is running or the synchronization fails.


### function rmw_uros_set_publisher_session_timeout

```cpp
rmw_ret_t rmw_uros_set_publisher_session_timeout(
rmw_publisher_t * publisher,
int session_timeout
)
```

Sets the DDS-XRCE session spin time in reliable publication.

**Parameters**:

* **publisher** publisher where the spin time is configured
* **session_timeout** time in milliseconds


**Return**:

* RMW_RET_OK when success.
* RMW_RET_INVALID_ARGUMENT If publisher is not valid or unexpected arguments.


### function rmw_uros_set_service_session_timeout

```cpp
rmw_ret_t rmw_uros_set_service_session_timeout(
rmw_service_t * service,
int session_timeout
)
```

Sets the DDS-XRCE session spin time in reliable service server.

**Parameters**:

* **service** service where the spin time is configured
* **session_timeout** time in milliseconds


**Return**:

* RMW_RET_OK when success.
* RMW_RET_INVALID_ARGUMENT If service is not valid or unexpected arguments.


### function rmw_uros_set_client_session_timeout

```cpp
rmw_ret_t rmw_uros_set_client_session_timeout(
rmw_client_t * client,
int session_timeout
)
```

Sets the DDS-XRCE session spin time in reliable service client.

**Parameters**:

* **client** client where the spin time is configured
* **session_timeout** time in milliseconds


**Return**:

* RMW_RET_OK when success.
* RMW_RET_INVALID_ARGUMENT If client is not valid or unexpected arguments.





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