rclcpp::Publisher< MessageT, Alloc > Class Template Reference

A publisher publishes messages of any type to a topic. More...

#include <publisher.hpp>

Inheritance diagram for rclcpp::Publisher< MessageT, Alloc >:

Public Types
using	MessageAllocTraits = allocator::AllocRebind< MessageT, Alloc >
using	MessageAlloc = typename MessageAllocTraits::allocator_type
using	MessageDeleter = allocator::Deleter< MessageAlloc, MessageT >
using	MessageUniquePtr = std::unique_ptr< MessageT, MessageDeleter >
Public Types inherited from rclcpp::PublisherBase
using	StoreMessageCallbackT = std::function< uint64_t(uint64_t, void *, const std::type_info &)>

Public Member Functions
	Publisher (rclcpp::node_interfaces::NodeBaseInterface *node_base, const std::string &topic, const rcl_publisher_options_t &publisher_options, const std::shared_ptr< MessageAlloc > &allocator)
virtual	~Publisher ()
virtual void	publish (std::unique_ptr< MessageT, MessageDeleter > &msg)
	Send a message to the topic for this publisher. More...
virtual void	publish (const std::shared_ptr< MessageT > &msg)
virtual void	publish (std::shared_ptr< const MessageT > msg)
virtual void	publish (const MessageT &msg)
virtual void	publish (const MessageT *msg)
std::shared_ptr< MessageAlloc >	get_allocator () const
Public Member Functions inherited from rclcpp::PublisherBase
	PublisherBase (rclcpp::node_interfaces::NodeBaseInterface *node_base, const std::string &topic, const rosidl_message_type_support_t &type_support, const rcl_publisher_options_t &publisher_options)
	Default constructor. More...
virtual	~PublisherBase ()
const char *	get_topic_name () const
	Get the topic that this publisher publishes on. More...
size_t	get_queue_size () const
	Get the queue size for this publisher. More...
const rmw_gid_t &	get_gid () const
	Get the global identifier for this publisher (used in rmw and by DDS). More...
const rmw_gid_t &	get_intra_process_gid () const
	Get the global identifier for this publisher used by intra-process communication. More...
rcl_publisher_t *	get_publisher_handle ()
	Get the rcl publisher handle. More...
const rcl_publisher_t *	get_publisher_handle () const
	Get the rcl publisher handle. More...
bool	operator== (const rmw_gid_t &gid) const
	Compare this publisher to a gid. More...
bool	operator== (const rmw_gid_t *gid) const
	Compare this publisher to a pointer gid. More...
void	setup_intra_process (uint64_t intra_process_publisher_id, StoreMessageCallbackT callback, const rcl_publisher_options_t &intra_process_options)
	Implementation utility function used to setup intra process publishing after creation. More...

Protected Member Functions
void	do_inter_process_publish (const MessageT *msg)

Protected Attributes
std::shared_ptr< MessageAlloc >	message_allocator_
MessageDeleter	message_deleter_
Protected Attributes inherited from rclcpp::PublisherBase
std::shared_ptr< rcl_node_t >	rcl_node_handle_
rcl_publisher_t	publisher_handle_ = rcl_get_zero_initialized_publisher()
rcl_publisher_t	intra_process_publisher_handle_ = rcl_get_zero_initialized_publisher()
uint64_t	intra_process_publisher_id_
StoreMessageCallbackT	store_intra_process_message_
rmw_gid_t	rmw_gid_
rmw_gid_t	intra_process_rmw_gid_

Detailed Description

template<typename MessageT, typename Alloc = std::allocator<void>>
class rclcpp::Publisher< MessageT, Alloc >

A publisher publishes messages of any type to a topic.

Member Typedef Documentation

MessageAllocTraits

template<typename MessageT, typename Alloc = std::allocator<void>>

using rclcpp::Publisher< MessageT, Alloc >::MessageAllocTraits = allocator::AllocRebind<MessageT, Alloc>

MessageAlloc

template<typename MessageT, typename Alloc = std::allocator<void>>

using rclcpp::Publisher< MessageT, Alloc >::MessageAlloc = typename MessageAllocTraits::allocator_type

MessageDeleter

template<typename MessageT, typename Alloc = std::allocator<void>>

using rclcpp::Publisher< MessageT, Alloc >::MessageDeleter = allocator::Deleter<MessageAlloc, MessageT>

MessageUniquePtr

template<typename MessageT, typename Alloc = std::allocator<void>>

using rclcpp::Publisher< MessageT, Alloc >::MessageUniquePtr = std::unique_ptr<MessageT, MessageDeleter>

Constructor & Destructor Documentation

Publisher()

template<typename MessageT, typename Alloc = std::allocator<void>>

rclcpp::Publisher< MessageT, Alloc >::Publisher ( rclcpp::node_interfaces::NodeBaseInterface *  node_base, const std::string &  topic, const rcl_publisher_options_t &  publisher_options, const std::shared_ptr< MessageAlloc > &  allocator  )

inline

~Publisher()

template<typename MessageT, typename Alloc = std::allocator<void>>

virtual rclcpp::Publisher< MessageT, Alloc >::~Publisher ( )

inlinevirtual

Member Function Documentation

publish() [1/5]

template<typename MessageT, typename Alloc = std::allocator<void>>

virtual void rclcpp::Publisher< MessageT, Alloc >::publish ( std::unique_ptr< MessageT, MessageDeleter > &  msg )

inlinevirtual

Send a message to the topic for this publisher.

This function is templated on the input message type, MessageT.

Parameters

[in]

msg

A shared pointer to the message to send.

publish() [2/5]

template<typename MessageT, typename Alloc = std::allocator<void>>

virtual void rclcpp::Publisher< MessageT, Alloc >::publish ( const std::shared_ptr< MessageT > &  msg )

inlinevirtual

publish() [3/5]

template<typename MessageT, typename Alloc = std::allocator<void>>

virtual void rclcpp::Publisher< MessageT, Alloc >::publish ( std::shared_ptr< const MessageT >  msg )

inlinevirtual

publish() [4/5]

template<typename MessageT, typename Alloc = std::allocator<void>>

virtual void rclcpp::Publisher< MessageT, Alloc >::publish ( const MessageT &  msg )

inlinevirtual

publish() [5/5]

template<typename MessageT, typename Alloc = std::allocator<void>>

virtual void rclcpp::Publisher< MessageT, Alloc >::publish ( const MessageT *  msg )

inlinevirtual

get_allocator()

template<typename MessageT, typename Alloc = std::allocator<void>>

std::shared_ptr<MessageAlloc> rclcpp::Publisher< MessageT, Alloc >::get_allocator ( ) const

inline

do_inter_process_publish()

template<typename MessageT, typename Alloc = std::allocator<void>>

void rclcpp::Publisher< MessageT, Alloc >::do_inter_process_publish ( const MessageT *  msg )

inlineprotected

Member Data Documentation

message_allocator_

template<typename MessageT, typename Alloc = std::allocator<void>>

std::shared_ptr<MessageAlloc> rclcpp::Publisher< MessageT, Alloc >::message_allocator_

protected

message_deleter_

template<typename MessageT, typename Alloc = std::allocator<void>>

MessageDeleter rclcpp::Publisher< MessageT, Alloc >::message_deleter_

protected

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The documentation for this class was generated from the following file:

• rclcpp/publisher.hpp