#include <publisher_base.hpp>

Inheritance diagram for rclcpp::PublisherBase:

Collaboration diagram for rclcpp::PublisherBase:

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

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...

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...

virtual mapped_ring_buffer::MappedRingBufferBase::SharedPtr	make_mapped_ring_buffer (size_t size) const
	Implementation utility function that creates a typed mapped ring buffer. 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 Types
using	IntraProcessManagerWeakPtr = std::weak_ptr< rclcpp::intra_process_manager::IntraProcessManager >

Protected Member Functions
template<typename EventCallbackT >
void	add_event_handler (const EventCallbackT &callback, const rcl_publisher_event_type_t event_type)

Member Typedef Documentation

◆ IntraProcessManagerSharedPtr

using rclcpp::PublisherBase::IntraProcessManagerSharedPtr = std::shared_ptr<rclcpp::intra_process_manager::IntraProcessManager>

◆ IntraProcessManagerWeakPtr

using rclcpp::PublisherBase::IntraProcessManagerWeakPtr = std::weak_ptr<rclcpp::intra_process_manager::IntraProcessManager>

protected

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.

◆ get_event_handlers()

const std::vector<std::shared_ptr<rclcpp::QOSEventHandlerBase> >& rclcpp::PublisherBase::get_event_handlers ( ) const

Get all the QoS event handlers associated with this publisher.

Returns: The vector of QoS event handlers.

◆ get_subscription_count()

size_t rclcpp::PublisherBase::get_subscription_count ( ) const

Get subscription count.

Returns: The number of subscriptions.

◆ get_intra_process_subscription_count()

size_t rclcpp::PublisherBase::get_intra_process_subscription_count ( ) const

Get intraprocess subscription count.

Returns: The number of intraprocess subscriptions.

◆ assert_liveliness()

RCUTILS_WARN_UNUSED bool rclcpp::PublisherBase::assert_liveliness ( ) const

Manually assert that this Publisher is alive (for RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC).

If the rmw Liveliness policy is set to RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC, the creator of this publisher may manually call assert_liveliness at some point in time to signal to the rest of the system that this Node is still alive.

Returns: true if the liveliness was asserted successfully, otherwise false

◆ get_actual_qos()

rmw_qos_profile_t rclcpp::PublisherBase::get_actual_qos ( ) const

Get the actual QoS settings, after the defaults have been determined.

The actual configuration applied when using RMW_QOS_POLICY_*_SYSTEM_DEFAULT can only be resolved after the creation of the publisher, and it depends on the underlying rmw implementation. If the underlying setting in use can't be represented in ROS terms, it will be set to RMW_QOS_POLICY_*_UNKNOWN. May throw runtime_error when an unexpected error occurs.

Returns: The actual qos settings.

◆ 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.

◆ make_mapped_ring_buffer()

virtual mapped_ring_buffer::MappedRingBufferBase::SharedPtr rclcpp::PublisherBase::make_mapped_ring_buffer ( size_t size ) const

virtual

Implementation utility function that creates a typed mapped ring buffer.

Reimplemented in rclcpp::Publisher< MessageT, Alloc >, and rclcpp::Publisher< rcl_interfaces::msg::ParameterEvent >.

◆ setup_intra_process()

void rclcpp::PublisherBase::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.

◆ add_event_handler()

template<typename EventCallbackT >

void rclcpp::PublisherBase::add_event_handler	(	const EventCallbackT &	callback,
		const rcl_publisher_event_type_t	event_type
	)

inlineprotected

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

◆ event_handlers_

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

protected

◆ intra_process_is_enabled_

bool rclcpp::PublisherBase::intra_process_is_enabled_

protected

◆ weak_ipm_

IntraProcessManagerWeakPtr rclcpp::PublisherBase::weak_ipm_

protected

◆ intra_process_publisher_id_

uint64_t rclcpp::PublisherBase::intra_process_publisher_id_

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

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

include/rclcpp/publisher_base.hpp

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()

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_

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Member Typedef Documentation

◆ IntraProcessManagerSharedPtr

◆ IntraProcessManagerWeakPtr

Constructor & Destructor Documentation

◆ PublisherBase()

◆ ~PublisherBase()

Member Function Documentation

◆ get_topic_name()

◆ get_queue_size()

◆ get_gid()

◆ get_intra_process_gid()

◆ get_publisher_handle() [1/2]

◆ get_publisher_handle() [2/2]

◆ get_event_handlers()

◆ get_subscription_count()

◆ get_intra_process_subscription_count()

◆ assert_liveliness()

◆ get_actual_qos()

◆ operator==() [1/2]

◆ operator==() [2/2]

◆ make_mapped_ring_buffer()

◆ setup_intra_process()

◆ add_event_handler()

Member Data Documentation

◆ rcl_node_handle_

◆ publisher_handle_

◆ intra_process_publisher_handle_

◆ event_handlers_

◆ intra_process_is_enabled_

◆ weak_ipm_

◆ intra_process_publisher_id_

◆ rmw_gid_

◆ intra_process_rmw_gid_