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

#include <publisher.hpp>

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

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

[legend]

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 >

using	MessageSharedPtr = std::shared_ptr< const MessageT >

Public Types inherited from rclcpp::PublisherBase
using	IntraProcessManagerSharedPtr = std::shared_ptr< rclcpp::intra_process_manager::IntraProcessManager >

Public Member Functions
	Publisher (rclcpp::node_interfaces::NodeBaseInterface *node_base, const std::string &topic, const rcl_publisher_options_t &publisher_options, const PublisherEventCallbacks &event_callbacks, const std::shared_ptr< MessageAlloc > &allocator)

virtual	~Publisher ()

mapped_ring_buffer::MappedRingBufferBase::SharedPtr	make_mapped_ring_buffer (size_t size) const override
	Implementation utility function that creates a typed mapped ring buffer. More...

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< const MessageT > &msg)

virtual void	publish (const MessageT &msg)

virtual void	publish (const MessageT *msg)

void	publish (const rcl_serialized_message_t &serialized_msg)

void	publish (const rcl_serialized_message_t *serialized_msg)

void	publish (std::shared_ptr< const rcl_serialized_message_t > serialized_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...

const std::vector< std::shared_ptr< rclcpp::QOSEventHandlerBase > > &	get_event_handlers () const
	Get all the QoS event handlers associated with this publisher. More...

size_t	get_subscription_count () const
	Get subscription count. More...

size_t	get_intra_process_subscription_count () const
	Get intraprocess subscription count. More...

RCUTILS_WARN_UNUSED bool	assert_liveliness () const
	Manually assert that this Publisher is alive (for RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC). More...

rmw_qos_profile_t	get_actual_qos () const
	Get the actual QoS settings, after the defaults have been determined. 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, IntraProcessManagerSharedPtr ipm, 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)

void	do_serialized_publish (const rcl_serialized_message_t *serialized_msg)

void	do_intra_process_publish (uint64_t message_seq)

uint64_t	store_intra_process_message (uint64_t publisher_id, std::shared_ptr< const MessageT > msg)

uint64_t	store_intra_process_message (uint64_t publisher_id, std::unique_ptr< MessageT, MessageDeleter > msg)

Protected Member Functions inherited from rclcpp::PublisherBase
template<typename EventCallbackT >
void	add_event_handler (const EventCallbackT &callback, const rcl_publisher_event_type_t event_type)

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()

std::vector< std::shared_ptr< rclcpp::QOSEventHandlerBase > >	event_handlers_

bool	intra_process_is_enabled_

IntraProcessManagerWeakPtr	weak_ipm_

uint64_t	intra_process_publisher_id_

rmw_gid_t	rmw_gid_

rmw_gid_t	intra_process_rmw_gid_

Additional Inherited Members
Protected Types inherited from rclcpp::PublisherBase
using	IntraProcessManagerWeakPtr = std::weak_ptr< rclcpp::intra_process_manager::IntraProcessManager >

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>

◆ MessageSharedPtr

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

using rclcpp::Publisher< MessageT, Alloc >::MessageSharedPtr = std::shared_ptr<const MessageT>

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 PublisherEventCallbacks &	event_callbacks,
		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

◆ make_mapped_ring_buffer()

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

mapped_ring_buffer::MappedRingBufferBase::SharedPtr rclcpp::Publisher< MessageT, Alloc >::make_mapped_ring_buffer ( size_t size ) const

inlineoverridevirtual

Implementation utility function that creates a typed mapped ring buffer.

Reimplemented from rclcpp::PublisherBase.

◆ publish() [1/7]

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() [2/7]

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

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

inlinevirtual

◆ publish() [3/7]

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

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

inlinevirtual

◆ publish() [4/7]

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

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

inlinevirtual

◆ publish() [5/7]

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

void rclcpp::Publisher< MessageT, Alloc >::publish ( const rcl_serialized_message_t & serialized_msg )

inline

◆ publish() [6/7]

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

void rclcpp::Publisher< MessageT, Alloc >::publish ( const rcl_serialized_message_t * serialized_msg )

inline

◆ publish() [7/7]

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

void rclcpp::Publisher< MessageT, Alloc >::publish ( std::shared_ptr< const rcl_serialized_message_t > serialized_msg )

inline

◆ 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

◆ do_serialized_publish()

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

void rclcpp::Publisher< MessageT, Alloc >::do_serialized_publish ( const rcl_serialized_message_t * serialized_msg )

inlineprotected

◆ do_intra_process_publish()

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

void rclcpp::Publisher< MessageT, Alloc >::do_intra_process_publish ( uint64_t message_seq )

inlineprotected

◆ store_intra_process_message() [1/2]

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

uint64_t rclcpp::Publisher< MessageT, Alloc >::store_intra_process_message	(	uint64_t	publisher_id,
		std::shared_ptr< const MessageT >	msg
	)

inlineprotected

◆ store_intra_process_message() [2/2]

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

uint64_t rclcpp::Publisher< MessageT, Alloc >::store_intra_process_message	(	uint64_t	publisher_id,
		std::unique_ptr< MessageT, MessageDeleter >	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

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

include/rclcpp/publisher.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ MessageAllocTraits

◆ MessageAlloc

◆ MessageDeleter

◆ MessageUniquePtr

◆ MessageSharedPtr

Constructor & Destructor Documentation

◆ Publisher()

◆ ~Publisher()

Member Function Documentation

◆ make_mapped_ring_buffer()

◆ publish() [1/7]

◆ publish() [2/7]

◆ publish() [3/7]

◆ publish() [4/7]

◆ publish() [5/7]

◆ publish() [6/7]

◆ publish() [7/7]

◆ get_allocator()

◆ do_inter_process_publish()

◆ do_serialized_publish()

◆ do_intra_process_publish()

◆ store_intra_process_message() [1/2]

◆ store_intra_process_message() [2/2]

Member Data Documentation

◆ message_allocator_

◆ message_deleter_

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