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add Extra Arguments for Component Manager. #4904

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add Extra Arguments for Component Manager. #4904

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add Extra Arguments for Component Manager.
fujitatomoya Dec 14, 2024
1991c68
move the command line example before the table.
fujitatomoya Dec 17, 2024
8c0112b
address review comments.
fujitatomoya Dec 18, 2024
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50 changes: 47 additions & 3 deletions source/Tutorials/Intermediate/Composition.rst
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Expand Up @@ -340,12 +340,56 @@ Passing additional arguments into components
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

The ``ros2 component load`` command-line supports passing particular options to the component manager for use when constructing the node.
As of now, the only command-line option that is supported is to instantiate a node using intra-process communication.
This functionality can be used as follows:

The following example shows the use of the extra arguments ``use_intra_process_comms`` and ``forward_global_arguments``:

.. code-block:: bash

ros2 component load /ComponentManager composition composition::Talker -e use_intra_process_comms:=true
ros2 component load /ComponentManager composition composition::Talker -e use_intra_process_comms:=true -e forward_global_arguments:=false

The following extra arguments are supported.

.. list-table:: Extra Arguments for Component Manager
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:widths: 15 15 15 15
:header-rows: 1

* - Argument
- Type
- Default
- Description
* - ``forward_global_arguments``
- Boolean
- True
- Apply global arguments to the component node when loading.
* - ``enable_rosout``
- Boolean
- True
- Enable the ``rosout`` topic publisher in the component node.
* - ``use_intra_process_comms``
- Boolean
- False
- Enable intra-process communication in the component node.
* - ``enable_topic_statistics``
- Boolean
- False
- Enable a topic statistics publisher in the component node.
* - ``start_parameter_services``
- Boolean
- True
- Enable services to manage parameters in the component node.
* - ``start_parameter_event_publisher``
- Boolean
- True
- Enable the parameter event publisher in the component node.
* - ``use_clock_thread``
- Boolean
- True
- Enable a dedicated clock thread in the component node.
* - ``enable_logger_service``
- Boolean
- False
- Enable logger level management service in the component node.


Composable nodes as shared libraries
------------------------------------
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