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add Extra Arguments for Component Manager. (backport #4904) #4944

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Jan 15, 2025
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add Extra Arguments for Component Manager. (backport #4904) #4944

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c54cea8
add Extra Arguments for Component Manager. (#4904)
fujitatomoya Jan 15, 2025
80fd309
drop unsupported properties from extra arguments.
fujitatomoya Jan 15, 2025
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26 changes: 23 additions & 3 deletions source/Tutorials/Intermediate/Composition.rst
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Expand Up @@ -367,12 +367,32 @@ 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
: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.
* - ``use_intra_process_comms``
- Boolean
- False
- Enable intra-process communication in the component node.


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