rcl  master
C API providing common ROS client library functionality.
publisher.h
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1 // Copyright 2015 Open Source Robotics Foundation, Inc.
2 //
3 // Licensed under the Apache License, Version 2.0 (the "License");
4 // you may not use this file except in compliance with the License.
5 // You may obtain a copy of the License at
6 //
7 // http://www.apache.org/licenses/LICENSE-2.0
8 //
9 // Unless required by applicable law or agreed to in writing, software
10 // distributed under the License is distributed on an "AS IS" BASIS,
11 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12 // See the License for the specific language governing permissions and
13 // limitations under the License.
14 
15 #ifndef RCL__PUBLISHER_H_
16 #define RCL__PUBLISHER_H_
17 
18 #ifdef __cplusplus
19 extern "C"
20 {
21 #endif
22 
23 #include "rosidl_generator_c/message_type_support_struct.h"
24 
25 #include "rcl/macros.h"
26 #include "rcl/node.h"
27 #include "rcl/visibility_control.h"
28 
30 struct rcl_publisher_impl_t;
31 
33 typedef struct rcl_publisher_t
34 {
35  struct rcl_publisher_impl_t * impl;
37 
40 {
44 
47 
49 
57 
59 
146 rcl_ret_t
148  rcl_publisher_t * publisher,
149  const rcl_node_t * node,
150  const rosidl_message_type_support_t * type_support,
151  const char * topic_name,
152  const rcl_publisher_options_t * options);
153 
155 
179 rcl_ret_t
180 rcl_publisher_fini(rcl_publisher_t * publisher, rcl_node_t * node);
181 
183 
193 
195 
252 rcl_ret_t
253 rcl_publish(const rcl_publisher_t * publisher, const void * ros_message);
254 
256 
287 rcl_ret_t
289  const rcl_publisher_t * publisher, const rcl_serialized_message_t * serialized_message);
290 
292 
315 const char *
317 
319 
343 rcl_publisher_get_options(const rcl_publisher_t * publisher);
344 
346 
375 
377 
397 bool
399  const rcl_publisher_t * publisher,
400  rcl_allocator_t * error_msg_allocator);
401 
402 #ifdef __cplusplus
403 }
404 #endif
405 
406 #endif // RCL__PUBLISHER_H_
rcl_ret_t rcl_publisher_fini(rcl_publisher_t *publisher, rcl_node_t *node)
Finalize a rcl_publisher_t.
struct rcl_publisher_impl_t * impl
Definition: publisher.h:35
rmw_ret_t rcl_ret_t
Definition: types.h:20
rcl_ret_t rcl_publisher_init(rcl_publisher_t *publisher, const rcl_node_t *node, const rosidl_message_type_support_t *type_support, const char *topic_name, const rcl_publisher_options_t *options)
Initialize a rcl publisher.
rmw_qos_profile_t qos
Middleware quality of service settings for the publisher.
Definition: publisher.h:42
struct rcl_publisher_options_t rcl_publisher_options_t
Options available for a rcl publisher.
rcl_publisher_t rcl_get_zero_initialized_publisher(void)
Return a rcl_publisher_t struct with members set to NULL.
bool rcl_publisher_is_valid(const rcl_publisher_t *publisher, rcl_allocator_t *error_msg_allocator)
Check that the publisher is valid.
#define RCL_WARN_UNUSED
Ignored return values of functions with this macro will emit a warning.
Definition: macros.h:25
rmw_publisher_t * rcl_publisher_get_rmw_handle(const rcl_publisher_t *publisher)
Return the rmw publisher handle.
#define RCL_PUBLIC
Definition: visibility_control.h:48
rcl_allocator_t allocator
Custom allocator for the publisher, used for incidental allocations.
Definition: publisher.h:45
rcl_publisher_options_t rcl_publisher_get_default_options(void)
Return the default publisher options in a rcl_publisher_options_t.
struct rcl_publisher_t rcl_publisher_t
Structure which encapsulates a ROS Publisher.
rcl_ret_t rcl_publish_serialized_message(const rcl_publisher_t *publisher, const rcl_serialized_message_t *serialized_message)
Publish a serialized message on a topic using a publisher.
Structure which encapsulates a ROS Publisher.
Definition: publisher.h:33
const rcl_publisher_options_t * rcl_publisher_get_options(const rcl_publisher_t *publisher)
Return the rcl publisher options.
const char * rcl_publisher_get_topic_name(const rcl_publisher_t *publisher)
Get the topic name for the publisher.
rcl_ret_t rcl_publish(const rcl_publisher_t *publisher, const void *ros_message)
Publish a ROS message on a topic using a publisher.
Structure which encapsulates a ROS Node.
Definition: node.h:38
Options available for a rcl publisher.
Definition: publisher.h:39