| ▼Nrosros | Simple unified interface to ROS1 / ROS2 |
| Napi | Utilities for ROS built-in types, and message and service types |
| Ncore | ROS system and node functionality |
| Nparsing | Utilities for ROS message definition texts |
| Npatch | Patches ROS1 classes with ROS2-compatible members, and vice versa |
| ▼Nrclify | Provides ROS2 API facade for ROS1, or imports rclpy if ROS2 environment |
| ►Ncallback_groups | Partial stand-in for `rclpy.callback_groups` in ROS1, providing `CallbackGroup` classes |
| CCallbackGroup | The base class for a callback group |
| CMutuallyExclusiveCallbackGroup | API stand-in for ROS2 compatibility |
| CReentrantCallbackGroup | |
| ►Nclock | Partial stand-in for `rclpy.clock` in ROS1, providing `ClockType` and `Clock` |
| CClock | Simple clock interface mimicking `rclpy.clock.Clock`, only providing `now()` |
| CClockType | Enum for clock type |
| Nduration | Stand-in for `rclpy.duration`, provides `rospy.Duration` |
| ►Nexceptions | Copy of ROS2 `rclpy.exceptions` for ROS1 |
| CInvalidNamespaceException | Raised when a namespace is invalid |
| CInvalidNodeNameException | Raised when a node name is invalid |
| CInvalidParameterException | Raised when a parameter to be declared has an invalid name |
| CInvalidParameterValueException | Raised when a parameter is rejected by a user callback or when applying a descriptor |
| CInvalidServiceNameException | Raised when a service name is invalid |
| CInvalidTopicNameException | Raised when a topic name is invalid |
| CNameValidationException | Raised when a topic name, node name, or namespace are invalid |
| CNotInitializedException | Raised when the rclpy implementation is accessed before rclpy.init() |
| CNoTypeSupportImportedException | Raised when there is no type support imported |
| CParameterAlreadyDeclaredException | Raised when declaring a parameter that had been declared before |
| CParameterException | Base exception for parameter-related errors |
| CParameterImmutableException | Raised when a read-only parameter is modified |
| CParameterNotDeclaredException | Raised when handling an undeclared parameter when it is not allowed |
| CROSInterruptException | Raised when an operation is canceled by rclpy shutting down |
| ►Nexecutors | Partial stand-in for `rclpy.executors` in ROS1, providing `Executor` classes |
| CConditionReachedException | API stand-in for ROS2 compatibility, all spinning is performed by sleep |
| CExecutor | |
| CExternalShutdownException | Future has been completed |
| CMultiThreadedExecutor | |
| CShutdownException | Context has been shutdown |
| CSingleThreadedExecutor | API stand-in for ROS2 compatibility |
| CTimeoutException | Signal that a timeout occurred |
| ►Nnode | Partial stand-in of ROS2 `rclpy.node` for ROS1 |
| CNode | |
| CNodeNameNonExistentError | Thrown when a node name is not found |
| ►Nparameter | Partial stand-in of ROS2 `rclpy.parameter` |
| CFloatingPointRange | Represents bounds and a step value for a floating point typed parameter |
| CIntegerRange | Represents bounds and a step value for an integer typed parameter |
| ►CParameter | ROS node parameter, a stand-in for ROS2 `rclpy.parameter.Parameter` in ROS1 |
| CType | ROS parameter type, a stand-in for ROS2 `rclpy.parameter.Parameter.Type` in ROS1 |
| CParameterDescriptor | This is the message to communicate a parameter's descriptor |
| CParameterValue | |
| CSetParametersResult | This is the message to communicate the result of setting parameters |
| ►Nqos | Partial stand-in for `rclpy.qos` in ROS1 |
| CDurabilityPolicy | Enum for QoS Durability settings |
| CHistoryPolicy | Enum for QoS History settings |
| CInvalidQoSProfileException | Raised when constructing a QoSProfile with invalid arguments |
| CLivelinessPolicy | Enum for QoS Liveliness settings |
| CQoSPolicyEnum | Base for QoS Policy enumerations |
| CQoSPolicyKind | Enum for types of QoS policies that a Publisher or Subscription can set |
| CQoSPresetProfiles | |
| CQoSProfile | Define Quality of Service policies |
| CReliabilityPolicy | Enum for QoS Reliability settings |
| Nrclify | Stand-in for `rclpy` in ROS1 |
| ►Ntask | Port of ROS2 `rclpy.task` for ROS1 |
| CFuture | Represents the outcome of a task in the future |
| CTask | Executes a function or coroutine |
| Ntime | Stand-in for `rclpy.time`, provides `rospy.Duration` |
| ►Ntopic_endpoint_info | Port of ROS2 `rclpy.topic_endpoint_info` for ROS1 |
| CTopicEndpointInfo | Information on a topic endpoint |
| CTopicEndpointTypeEnum | Enum for possible types of topic endpoints |
| ▼Nros1 | ROS1 core interface |
| CBag | ROS1 bag reader and writer |
| CMutex | Container for local mutexes |
| CROSLogHandler | Logging handler that forwards logging messages to ROS1 logger |
| ▼Nros2 | ROS2 core interface |
| CBag | ROS2 bag interface, partially mimicking rosbag.Bag |
| CMutex | Container for local mutexes |
| CROSLogHandler | Logging handler that forwards logging messages to ROS2 logger |
| ▼Nrospify | Provides ROS1 API facade for ROS2, or imports rospy if ROS1 environment |
| Nclient | Stand-ins for `rospy.client` in ROS2 |
| Ncore | Stand-ins for `rospy.core` in ROS2 |
| ►Nexceptions | Copy of ROS1 `rospy.exceptions` for ROS2, plus a few other rospy exceptions |
| CParameterInvalid | |
| CROSException | Base exception class for ROS clients |
| CROSInitException | Exception for operations that interrupted, e.g |
| CROSInternalException | Base class for exceptions that are internal to the ROS system |
| CROSInterruptException | Exception if time moved backwards |
| CROSSerializationException | Exception for errors initializing ROS state |
| CROSTimeMovedBackwardsException | |
| CTransportException | Internal class for representing broken connections |
| CTransportInitError | Exception that is raised when a parameter fails validation checks |
| CTransportTerminated | Internal exception for representing exceptions that occur establishing transports |
| ►Nlog | Stand-in for `rospy` logging functionality in ROS2 |
| CLogInhibitor | |
| ►Nmsg | Stand-ins for `rospy.msg` in ROS2 |
| CAnyMsg | Stand-in for `rospy.AnyMsg` |
| ►Nmsproxy | Stand-ins for `rospy.msproxy` in ROS2 |
| CMasterProxy | Partial stand-in for `rospy.MasterProxy` |
| Nnames | Stand-ins for `rospy.names` in ROS2 |
| Nrospify | Stand-in for `rospy` in ROS2 |
| Nrostime | Stand-ins for `rospy.rostime` in ROS2 |
| ►Nservice | Stand-ins for `rospy.impl.tcpros_service` in ROS2 |
| CService | Stand-in for `rospy.Service`, wrapping the creation of ROS2 service |
| CServiceException | Exception class for service-related errors |
| CServiceProxy | Stand-in for `rospy.ServiceProxy`, wrapping the creation of ROS2 service client |
| ►Ntimer | Stand-ins for `rospy.timer` in ROS2 |
| CRate | Stand-in for `rospy.Rate`, wrapping the creation of ROS2 rate instance |
| CTimer | Stand-in for `rospy.Timer`, wrapping the creation of ROS2 timer instance |
| CTimerEvent | Constructor |
| ►Ntopics | Stand-ins for `rospy.topics` in ROS2 |
| CMessage | Abstract base class of Message data classes auto-generated from msg files |
| CPublisher | Stand-in for `rospy.Publisher`, wrapping the creation of ROS2 publisher |
| CSubscribeListener | Empty stand-in for `rospy.SubscribeListener` |
| CSubscriber | Stand-in for `rospy.Subscriber`, wrapping the creation of ROS2 subscription |
| ▼Nutil | Common utility classes and functions |
| CThrottledLogger | Logger wrapper with support for throttling logged messages per call site |
1.9.7