rcl_take_raw function

rcl/include/rcl/subscription.h

@@ -254,6 +254,14 @@ rcl_take(
   void * ros_message,
   rmw_message_info_t * message_info);
 
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_take_raw(
+  const rcl_subscription_t * subscription,
+  rcl_message_raw_t * raw_message,
+  rmw_message_info_t * message_info);
+
 /// Get the topic name for the subscription.
 /**
  * This function returns the subscription's internal topic name string.

rcl/src/rcl/subscription.c

@@ -229,6 +229,41 @@ rcl_take(
   return RCL_RET_OK;
 }
 
+rcl_ret_t
+rcl_take_raw(
+  const rcl_subscription_t * subscription,
+  rcl_message_raw_t * raw_message,
+  rmw_message_info_t * message_info)
+{
+  RCL_CHECK_ARGUMENT_FOR_NULL(subscription, RCL_RET_INVALID_ARGUMENT, rcl_get_default_allocator());
+  const rcl_subscription_options_t * options = rcl_subscription_get_options(subscription);
+  if (!options) {
+    return RCL_RET_SUBSCRIPTION_INVALID;
+  }
+  RCL_CHECK_ARGUMENT_FOR_NULL(raw_message, RCL_RET_INVALID_ARGUMENT, options->allocator);
+  RCL_CHECK_FOR_NULL_WITH_MSG(
+    subscription->impl, "subscription is invalid",
+    return RCL_RET_SUBSCRIPTION_INVALID, options->allocator);
+  RCL_CHECK_FOR_NULL_WITH_MSG(
+    subscription->impl->rmw_handle,
+    "subscription is invalid", return RCL_RET_SUBSCRIPTION_INVALID, options->allocator);
+  // If message_info is NULL, use a place holder which can be discarded.
+  rmw_message_info_t dummy_message_info;
+  rmw_message_info_t * message_info_local = message_info ? message_info : &dummy_message_info;
+  // Call rmw_take_with_info.
+  bool taken = false;
+  rmw_ret_t ret =
+    rmw_take_raw_with_info(subscription->impl->rmw_handle, raw_message, &taken, message_info_local);
+  if (ret != RMW_RET_OK) {
+    RCL_SET_ERROR_MSG(rmw_get_error_string_safe(), options->allocator);
+    return RCL_RET_ERROR;
+  }
+  if (!taken) {
+    return RCL_RET_SUBSCRIPTION_TAKE_FAILED;
+  }
+  return RCL_RET_OK;
+}
+
 const char *
 rcl_subscription_get_topic_name(const rcl_subscription_t * subscription)
 {