rclcpp::PublisherBase Class Reference

#include <publisher.hpp>

Inheritance diagram for rclcpp::PublisherBase:

Collaboration diagram for rclcpp::PublisherBase:

Public Types
using	StoreMessageCallbackT = std::function< uint64_t(uint64_t, void *, const std::type_info &)>

Public Member Functions
	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 Attributes
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_

Member Typedef Documentation

StoreMessageCallbackT

using rclcpp::PublisherBase::StoreMessageCallbackT = std::function<uint64_t(uint64_t, void *, const std::type_info &)>

Constructor & Destructor Documentation

PublisherBase()

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.

Typically, a publisher is not created through this method, but instead is created through a call to Node::create_publisher.

Parameters

[in]	node_base	A pointer to the NodeBaseInterface for the parent node.
[in]	topic	The topic that this publisher publishes on.
[in]	type_support	The type support structure for the type to be published.
[in]	publisher_options	QoS settings for this publisher.

~PublisherBase()

virtual rclcpp::PublisherBase::~PublisherBase ( )

virtual

Member Function Documentation

get_topic_name()

const char* rclcpp::PublisherBase::get_topic_name

(

)

const

Get the topic that this publisher publishes on.

Returns

The topic name.

get_queue_size()

size_t rclcpp::PublisherBase::get_queue_size

(

)

const

Get the queue size for this publisher.

Returns

The queue size.

get_gid()

const rmw_gid_t& rclcpp::PublisherBase::get_gid

(

)

const

Get the global identifier for this publisher (used in rmw and by DDS).

Returns

The gid.

get_intra_process_gid()

const rmw_gid_t& rclcpp::PublisherBase::get_intra_process_gid

(

)

const

Get the global identifier for this publisher used by intra-process communication.

Returns

The intra-process gid.

get_publisher_handle() [1/2]

rcl_publisher_t* rclcpp::PublisherBase::get_publisher_handle

(

)

Get the rcl publisher handle.

Returns

The rcl publisher handle.

get_publisher_handle() [2/2]

const rcl_publisher_t* rclcpp::PublisherBase::get_publisher_handle

(

)

const

Get the rcl publisher handle.

Returns

The rcl publisher handle.

operator==() [1/2]

bool rclcpp::PublisherBase::operator==

(

const rmw_gid_t &

gid

)

const

Compare this publisher to a gid.

Note that this function calls the next function.

Parameters

[in]

gid

Reference to a gid.

Returns

True if the publisher's gid matches the input.

operator==() [2/2]

bool rclcpp::PublisherBase::operator==

(

const rmw_gid_t *

gid

)

const

Compare this publisher to a pointer gid.

A wrapper for comparing this publisher's gid to the input using rmw_compare_gids_equal.

Parameters

[in]

gid

A pointer to a gid.

Returns

True if this publisher's gid matches the input.

setup_intra_process()

void rclcpp::PublisherBase::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.

Member Data Documentation

rcl_node_handle_

std::shared_ptr<rcl_node_t> rclcpp::PublisherBase::rcl_node_handle_

protected

publisher_handle_

rcl_publisher_t rclcpp::PublisherBase::publisher_handle_ = rcl_get_zero_initialized_publisher()

protected

intra_process_publisher_handle_

rcl_publisher_t rclcpp::PublisherBase::intra_process_publisher_handle_ = rcl_get_zero_initialized_publisher()

protected

intra_process_publisher_id_

uint64_t rclcpp::PublisherBase::intra_process_publisher_id_

protected

store_intra_process_message_

StoreMessageCallbackT rclcpp::PublisherBase::store_intra_process_message_

protected

rmw_gid_

rmw_gid_t rclcpp::PublisherBase::rmw_gid_

protected

intra_process_rmw_gid_

rmw_gid_t rclcpp::PublisherBase::intra_process_rmw_gid_

protected

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

• include/rclcpp/publisher.hpp