Wrapper for rclpy.create_node that returns RclcppyyNode instead. This maintains the same API but uses our C++-backed node.

Wrapper for Node.create_subscription that uses RclcppyyNode implementation when the node is an RclcppyyNode, otherwise falls back to original

Wrapper for rclpy.spin that uses rclcpp.spin

Adapt the rclcpp publisher and subscriber classes so they automatically adapt to the message types and when someone calls either the rclpy No

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

Given a Python message class (e.g. sensor_msgs.msg.Image), return (cpp_type_string, cppyy_class) for the corresponding C++ message.

Let the original loader create the module

Enable C++ acceleration for ROS2 Python code. This will: 1. Set up automatic message conversion from Python to C++ 2. Monkey-pat

Execute the module normally, then convert any messages to C++

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

Called by Python's import system for each import statement

Return rclcpp::Serialization<T> bound for the provided message type. Accepts either a Python msg class or a cppyy C++ msg class.

Yield C++ rosbag2_storage::SerializedBagMessage shared_ptrs from a reader.

Yield topic metadata objects from a C++ reader.

Create and open a C++ rosbag2_cpp::Reader.

Create and open a C++ rosbag2_cpp::Writer.

Print a summary of discovered symbols organized by type.

Make sure that when calling publish, the message is converted to rclcpp message if needed

Run a gstreamer pipeline to invert the colors of a video stream. Args: device: The device to use for the video stream. width:

Build a C++ rclcpp::SerializedMessage from Python bytes.

Convert a C++ rclcpp::SerializedMessage to Python bytes.

Standard callback that receives the ROS message. With monkeypatching, this should receive a C++ message object.

Write a C++ rosbag2_storage::SerializedBagMessage shared_ptr to the writer.