rcpputils: ROS 2 C++ Utilities

rcpputils is a C++ API consisting of macros, functions, and data structures intended for use throughout the ROS 2 codebase

Quality Declaration

This package claims to be in the Quality Level 1 category, see the Quality Declaration for more details.

API

This package currently contains:

• Assertion functions
• Clang thread safety annotation macros
• Library discovery
• String helpers
• File system helpers
• Type traits helpers
• Class that dynamically loads, unloads and get symbols from shared libraries at run-time.

Features are described in more detail at docs/FEATURES.md

Changelog for package rcpputils

2.14.1 (2025-06-19)

• add thread naming utilities (#213)
• Removed deprecated path (#212)
• Contributors: Adam Aposhian, Alejandro Hernández Cordero

2.14.0 (2025-04-24)

2.13.4 (2025-04-18)

• Switch to ament_cmake_ros_core package (#211)
• Added marco to disable deprecation warnings (#210)
• Added missing include (#207)
• Contributors: Alejandro Hernández Cordero, Janosch Machowinski, Michael Carroll

2.13.3 (2025-02-02)

• Clear the rcutils error when throwing an exception. (#206)
• Remove CODEOWNERS and mirror-rolling-to-master workflow. (#204)
• Contributors: Chris Lalancette

2.13.2 (2024-11-20)

• fix memory leak for remove_all(). (#201)
• Contributors: Tomoya Fujita

2.13.1 (2024-07-29)

• Suppress clang error because of deprecation (#199)
• Contributors: Alejandro Hernández Cordero

2.13.0 (2024-07-24)

• Deprecated path class (#196)
• Replace create_temp_directory with the new create_temporary_directory (#198)
  • Replace create_temp_directory with the new create_temporary_directory

  - The newly added [create_temporary_directory(..)]{.title-ref} uses std::<filesystem::path> and doesn't have platform-specific code.

  • Also deprecated [create_temp_directory(..)]{.title-ref} and [temp_directory_path]{.title-ref}
• Removed deprecated header get_env.hpp (#195)
• Removed rolling mean accumulator deprecated header (#194)
• Removed deprecated clamp methods (#193)
• Contributors: Alejandro Hernández Cordero, Michael Orlov

2.12.0 (2024-04-26)

2.11.0 (2024-04-16)

• Generate version header with ament_generate_version_header function (#190)
• Update docs for rcpputils::split functions (#188)
• Contributors: Christophe Bedard, Sai Kishor Kothakota

2.10.0 (2024-02-07)

• Included tl_expected (#185)
• Contributors: Alejandro Hernández Cordero

2.9.0 (2023-12-26)

• Switch to using target_link_libraries. (#183)
• Contributors: Chris Lalancette

2.8.1 (2023-11-06)

• Add a missing header due to missing PATH_MAX variable (#181)
• Contributors: wojciechmadry

2.8.0 (2023-09-07)

• Add unique_lock implementation with clang thread safety annotations (#180)
• Contributors: Emerson Knapp

2.7.1 (2023-05-11)

• Add in a missing cstdint. (#178)
• Contributors: Chris Lalancette

2.7.0 (2023-04-27)

2.6.1 (2023-02-13)

• Add missing header for strlen (#169)
• issue-167 (#172)
• [rolling] Update maintainers - 2022-11-07 (#166)
• Contributors: Audrow Nash, Sebastian Freitag, bijoua29

2.6.0 (2022-11-02)

• require C++17 and deprecate the rcppmath namespace (#165)
• Contributors: William Woodall

2.5.2 (2022-09-13)

• Mirror rolling to master
• Contributors: Audrow Nash

2.5.1 (2022-05-04)

2.5.0 (2022-04-29)

• Fix possible race condition in create_directories() (#162)
• Contributors: Artem Shumov

2.4.0 (2022-03-01)

• Install includes to include/${PROJECT_NAME} (#160)
• Contributors: Shane Loretz

2.3.2 (2022-01-14)

• Fix include order for cpplint (#158)
• [path] Declare the default assignment operator (#156)
• Contributors: Abrar Rahman Protyasha, Jacob Perron

2.3.1 (2021-12-17)

• Fixes for uncrustify 0.72 (#154)
• Fix the BSD license headers to use the standard one. (#153)
• Update maintainers to Chris Lalancette (#152)
• Contributors: Audrow Nash, Chris Lalancette

2.3.0 (2021-11-18)

• Add checked convert_to_nanoseconds() function (#145)
• Add missing sections in docs/FEATURES.md TOC (#151)
• [env] Add [set_env_var]{.title-ref} function (#150)
• Add missing cstddef include (#147)
• Add accumulator test to CMakeLists.txt (#144)
• `rcpputils::fs`: Fix doxygen parameter identifier (#142)
• Make thread safety macro C++ standards compliant (#141)
• Fix API documentation for clean [rosdoc2]{.title-ref} build (#139)
• Improve [rcppmath]{.title-ref} Doxygen documentation (#138)
• Improve documentation of utilities in docs/FEATURES.md (#137)
• Include [rcppmath]{.title-ref} utilities in docs/FEATURES.md (#136)
• Fix [IllegalStateException]{.title-ref} reference in FEATURES (#135)
• migrate rolling mean from ros2_controllers to rcppmath (#133)
• Update includes after rcutils/get_env.h deprecation (#132)
• Contributors: Abrar Rahman Protyasha, Barry Xu, Christophe Bedard, Karsten Knese, Octogonapus

2.2.0 (2021-04-02)

• Update quality declaration links (#130)
• Add functions for getting library path and filename (#128)
• Contributors: Nikolai Morin, Simon Honigmann

2.1.0 (2021-03-01)

• Add path equality operators (#127)
• Add create_temp_directory filesystem helper (#126)
• Use new noexcept specifier. (#123)
• Contributors: Chen Lihui, Emerson Knapp

2.0.4 (2021-01-25)

• Add stream operator for paths to make it easier to log (#120)
• Path join operator is const (#119)
• No windows.h in header files (#118)
• Fix rcpputils::SharedLibrary tests. (#117)
• Contributors: Emerson Knapp, Ivan Santiago Paunovic, Michel Hidalgo

2.0.3 (2020-12-08)

• Update QD to QL 1 (#114)
• Make sure to not try to index into an empty path. (#113)
• Contributors: Chris Lalancette, Stephen Brawner

2.0.2 (2020-11-16)

• Fix working with filesystem parent paths. (#112)
• Cleanup mislabeled BSD license (#37)
• overload functions for has_symbol and get_symbol with raw string literal (#110)
• Add an ASSERT to the pointer traits tests. (#111)
• replace custom get env login into rcutils_get_env(). (#99)
• Removed Github Actions (#105)
• Update the package.xml files with the latest Open Robotics maintainers (#102)
• Contributors: Alejandro Hernández Cordero, Chen Lihui, Chris Lalancette, Michael Jeronimo, Tully Foote, tomoya

2.0.1 (2020-10-05)

• Make sure that an existing path is a directory for create_directories (#98)
• Transfer ownership to Open Robotics (#100)
• Ensure -fPIC is used when building a static lib (#93)
• Contributors: Christophe Bedard, Dirk Thomas, Louise Poubel, William Woodall

2.0.0 (2020-07-21)

• Removed doxygen warnings (#86) (#87)
• Add clamp header (#85)
• Removed doxygen warnings (#86)
• Split get_env_var() into header and implementation (#83)
• Add cstring include for strcmp (#81)
• filesystem helpers: adding remove_all to remove non-empty directories (#79)
• Contributors: Alejandro Hernández Cordero, Christophe Bedard, Hunter L. Allen, Karsten Knese, Victor Lopez

1.2.0 (2020-06-26)

• Add scope_exit helper (#78)
• Bump setup-ros to 0.0.23, action-ros-lint to 0.0.6, action-ros-ci to 0.0.17 (#77)
• Contributors: Devin Bonnie, Michel Hidalgo

1.1.0 (2020-06-22)

• Fix parent_path() for empty paths and paths of length one (#73)
• Add get_executable_name() function (#70)
• Address memory leak in remove pointer test (#72)
• Add current_path to filesystem_helpers (#63)
• Align path combine behavior with C++17 (#68)
• Update quality declaration to QL 2 (#71)
• Contributors: Jacob Perron, Scott K Logan, Stephen Brawner

1.0.1 (2020-06-03)

• Include stdexcept in get_env.hpp (#69)
• Update quality declaration for version stability (#66)
• Handle empty paths in is_absolute (#67)
• Add Security Vulnerability Policy pointing to REP-2006 (#65)
• Contributors: Chris Lalancette, Scott K Logan, Steven! Ragnarök

1.0.0 (2020-05-26)

• Remove mention of random file from temporary_directory_path doc (#64)
• Contributors: Scott K Logan

0.3.1 (2020-05-08)

• Fix Action CI by using released upload-artifact instead of master (#61)
• Quality declaration (#47)
• Contributors: Emerson Knapp, brawner

0.3.0 (2020-04-24)

• Added shared library to feature list (#58)
• export targets in a addition to include directories / libraries (#57)
• remove pointer for smart pointer (#56)
• Added shared library class description to readme (#53)
• Increased shared library tests (#51)
• Removed duplicated split function (#54)
• Exposed get_env_var (#55)
• Added debug version for library names (#52)
• Added unload_library method to shared_library (#50)
• Included abstraction for rcutils::shared_library (#49)
• Add more documentation and include doxyfile (#46)
• Update README.md with license and build badges. (#45)
• Update README to mention assertion helper functions (#43)
• Add rcpputils::fs::file_size and rcpputils::fs::is_directory (#41)
• Make assert functions accept an optional string. (#42)
• Add functions for C++ assertions (#31)
• remove reference for pointer traits (#38)
• code style only: wrap after open parenthesis if not in one line (#36)
• Bug fixes for rcpputils::fs API (#35)
  • Ensure rcpputils::fs::create_directories works with absolute paths.
  • Implement temp_directory_path() for testing purposes.
  • Fix rcpputils::fs::path::parent_path() method.
• Add build and test workflow (#33)
• Add linting workflow (#32)
• Fix filesystem helpers for directory manipulation. (#30)
• Contributors: Alejandro Hernández Cordero, Dirk Thomas, Emerson Knapp, Karsten Knese, Michel Hidalgo, Zachary Michaels

0.2.1 (2019-11-12)

• add new function to remove the extension of a file (#27)
• Contributors: Anas Abou Allaban

0.2.0 (2019-09-24)

• find_library: Centralize functionality here (#25)
• Implement join() (#20)
• Rename test (#21)
• use _WIN32 instead of WIN32 (#24)
• Update README.md and package.xml (#22)
• Fix typo (#23)
• type trait rcpputils::is_pointer<T>[ (]{.title-ref}#19 <<https://github.com/ros2/rcpputils/issues/19>>`_)
• File extension addition for camera calibration parser (#18)
• Add endian helper until C++20 (#16)
• use iterators for split (#14)
• Add function 'find_and_replace' (#13)
• Contributors: Andreas Klintberg, Dirk Thomas, Jacob Perron, Karsten Knese, Michael Carroll, Michel Hidalgo, Tully Foote

0.1.0 (2019-04-13)

• Fixed leak in test_basic.cpp. (#9)
• Added CODEOWNERS file. (#10)
• Added commonly-used filesystem helper to utils. (#5)
• Fixed thread_safety_annotation filename to .hpp. (#6)
• Added section about DCO to CONTRIBUTING.md.
• Added thread annotation macros. (#2)
• Contributors: Dirk Thomas, Emerson Knapp, Michael Carroll, Thomas Moulard