nodl_common_interfaces¶

nodl_common_interfaces registers NoDL interface descriptions for the standard ROS 2 node base classes with the ament index, so that nodl:// include references resolve correctly.

This is a stopgap package. Eventually, upstream packages (rclcpp, rclcpp_lifecycle) will ship their own .nodl.yaml files. Until then, this package provides the descriptions and will be deprecated when upstream adopts them.

For what a NoDL document declares, see NoDL Concepts.

Registered documents¶

Reference	Describes
`nodl://rclcpp/node`	`rclcpp::Node` — publishers (`/rosout`, `/parameter_events`), parameter services, and `use_sim_time`.
`nodl://rclcpp_lifecycle/lifecycle_node`	`rclcpp_lifecycle::LifecycleNode` — includes `rclcpp::Node`, adds the `transition_event` publisher and lifecycle services (`change_state`, `get_state`, etc.).

Both documents carry codegen.cpp metadata declaring them as BASE_CLASS providers, which is what nodl_generator_cpp uses to determine the generated class’s base class.

Usage¶

Any package that references a document registered by this package should list nodl_common_interfaces as a dependency:

<depend>nodl_common_interfaces</depend>

The NoDL documents are registered at install time via ament_nodl_register, so they must be built before any package whose NoDL references them.