Use rclcpp API outside of typical ros-node in 3rdParty app

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Hi, I am using ROS 2 Ardent Apalone - 2018-03-07, build from Source with FastRTPS on Win 10 with VS2015. I want to use rclcpp in another application to communicate via ros2's pub/sub implementation between some ros nodes and my application.

For example somwhere in my code i want to do something like this.

m_pPublisher = this->create_publisher<std_msgs::msg::String>("test_topic");
m_pPublisher->publish(someRandomMsg);

Is it possible to link against the needed dll's to make this work? or can it only be done by calling the local_setup.batch ?

Thanks

Edit: Hi, Thanks for your answer, so the local_setup sets up some Paths ?

• C:\ros2_ws\install\opt\rviz_yaml_cpp_vendor\bin
• C:\ros2_ws\install\opt\rviz_ogre_vendor\bin
• C:\ros2_ws\install\opt\rviz_assimp_vendor\bin
• C:\ros2_ws\install\opt\libcurl_vendor\bin
• C:\ros2_ws\install\Scripts
• C:\ros2_ws\install\bin

I found these in >echo %Path% is there more ?