Bring up the rclcpp library. This function should be called before using any rclcpp classes. It adds the necessary include paths and load

Resolve message type to C++ type string and cppyy type object. Args: message_type: Can be: - Python ROS message clas

Ensure rosbag2_cpp C++ symbols are available through cppyy. Returns the cppyy.gbl.rosbag2_cpp namespace.

Check if the message type is a Python ROS message class. Fast check using __slots__ attribute that cppyy messages don't have.

Create a subscription using the C++ rclcpp subscription.

Create a timer using the C++ rclcpp timer.

Enable keyword arguments for C++ message constructors

Convert a rclpy QoSProfile to a rclcpp QoS.

Best-effort load of the storage plugin matching the given storage_id (e.g., 'mcap', 'sqlite3'). Scans package lib directories for likely plug

Check if the message type is a C++ cppyy message class. Fast check using unique cppyy attributes.

Validate a QoS profile or convert a history depth to a QoSProfile.

Validate a topic or service name.

Wake the executor if one exists.

Add Python message methods to C++ message class for compatibility

Deserialize rclcpp::SerializedMessage into a cppyy C++ message instance. Accepts a Python msg class or cppyy class to identify T.

Enable keyword arguments for C++ message constructors

Force discovery of all symbols in a cppyy namespace by accessing them. Returns a dictionary of discovered symbols and their types.

Force discovery of all symbols in a cppyy namespace by accessing them. Returns a dictionary of discovered symbols and their types.

Serialize a C++ message (cppyy instance) into rclcpp::SerializedMessage.

Convert a rclpy message to a rclcpp message, recursively iterating over the message fields

Load core rosbag2 and dependency libraries from their package prefixes, in a stable order, avoiding wide scans across all prefixes.

Adapt the rclcpp get_logger method so it can be called the python way.

Adapt the rclcpp namespace to be more Pythonic.

Python messages pretty print and also you can check the fields and field types, so lets forward that to the C++ messages

Convert all Python ROS messages in globals() to their C++ equivalents with keyword support. Args: target_globals: The globals di

Create a topic on a C++ rosbag2_cpp::Writer.

Force discovery of commonly known rclcpp classes to trigger their loading.

Install the import hook if not already installed

Monkey-patch the Node class so that any direct instantiations of rclpy.node.Node get our RclcppyyNode instead.

Monkey-patch ROS2 Python API to use C++ implementations. This makes existing Python ROS2 code use C++ under the hood.

Recursively discover symbols in nested namespaces.

Recursively discover symbols in nested namespaces.

Run the voxelgrid downsampling node.

Set up automatic conversion of Python ROS messages to C++ equivalents. This sets up an import hook that will automatically convert messages d

Basic warmup to prepare timing operations.

These two operations imply a JIT compilation of the code. This is a warmup to avoid the first call being slower and dropping some mes

Warm up all rclcpp symbols for better autocomplete experience in IPython. This function will access all available symbols to ensure they are