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

#include <publisher.hpp>

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

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

[legend]

Public Types
using	MessageAllocatorTraits = allocator::AllocRebind< MessageT, AllocatorT >

using	MessageAllocator = typename MessageAllocatorTraits::allocator_type

using	MessageDeleter = allocator::Deleter< MessageAllocator, 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::experimental::IntraProcessManager >

Public Member Functions
	Publisher (rclcpp::node_interfaces::NodeBaseInterface *node_base, const std::string &topic, const rclcpp::QoS &qos, const rclcpp::PublisherOptionsWithAllocator< AllocatorT > &options)
	Default constructor. More...

virtual void	post_init_setup (rclcpp::node_interfaces::NodeBaseInterface *node_base, const std::string &topic, const rclcpp::QoS &qos, const rclcpp::PublisherOptionsWithAllocator< AllocatorT > &options)
	Called post construction, so that construction may continue after shared_from_this() works. More...

virtual	~Publisher ()

rclcpp::LoanedMessage< MessageT, AllocatorT >	borrow_loaned_message ()
	Borrow a loaned ROS message from the middleware. More...

virtual void	publish (std::unique_ptr< MessageT, MessageDeleter > msg)
	Send a message to the topic for this publisher. More...

virtual void	publish (const MessageT &msg)

void	publish (const rcl_serialized_message_t &serialized_msg)

void	publish (const SerializedMessage &serialized_msg)

void	publish (rclcpp::LoanedMessage< MessageT, AllocatorT > &&loaned_msg)
	Publish an instance of a LoanedMessage. More...

std::shared_ptr< MessageAllocator >	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...

std::shared_ptr< rcl_publisher_t >	get_publisher_handle ()
	Get the rcl publisher handle. More...

std::shared_ptr< 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...

rclcpp::QoS	get_actual_qos () const
	Get the actual QoS settings, after the defaults have been determined. More...

bool	can_loan_messages () const
	Check if publisher instance can loan messages. 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)
	Implementation utility function used to setup intra process publishing after creation. More...

Public Member Functions inherited from std::enable_shared_from_this< PublisherBase >
T	enable_shared_from_this (T... args)

T	operator= (T... args)

T	shared_from_this (T... args)

T	~enable_shared_from_this (T... args)

Protected Member Functions
void	do_inter_process_publish (const MessageT &msg)

void	do_serialized_publish (const rcl_serialized_message_t *serialized_msg)

void	do_loaned_message_publish (MessageT *msg)

void	do_intra_process_publish (std::unique_ptr< MessageT, MessageDeleter > msg)

std::shared_ptr< const MessageT >	do_intra_process_publish_and_return_shared (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)

void	default_incompatible_qos_callback (QOSOfferedIncompatibleQoSInfo &info) const

Protected Attributes
const rclcpp::PublisherOptionsWithAllocator< AllocatorT >	options_
	Copy of original options passed during construction. More...

std::shared_ptr< MessageAllocator >	message_allocator_

MessageDeleter	message_deleter_

Protected Attributes inherited from rclcpp::PublisherBase
std::shared_ptr< rcl_node_t >	rcl_node_handle_

std::shared_ptr< rcl_publisher_t >	publisher_handle_

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_

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

Detailed Description

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

A publisher publishes messages of any type to a topic.

Member Typedef Documentation

◆ MessageAllocatorTraits

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

using rclcpp::Publisher< MessageT, AllocatorT >::MessageAllocatorTraits = allocator::AllocRebind<MessageT, AllocatorT>

◆ MessageAllocator

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

using rclcpp::Publisher< MessageT, AllocatorT >::MessageAllocator = typename MessageAllocatorTraits::allocator_type

◆ MessageDeleter

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

using rclcpp::Publisher< MessageT, AllocatorT >::MessageDeleter = allocator::Deleter<MessageAllocator, MessageT>

◆ MessageUniquePtr

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

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

◆ MessageSharedPtr

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

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

Constructor & Destructor Documentation

◆ Publisher()

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

rclcpp::Publisher< MessageT, AllocatorT >::Publisher	(	rclcpp::node_interfaces::NodeBaseInterface *	node_base,
		const std::string &	topic,
		const rclcpp::QoS &	qos,
		const rclcpp::PublisherOptionsWithAllocator< AllocatorT > &	options
	)

inline

Default constructor.

The constructor for a Publisher is almost never called directly. Instead, subscriptions should be instantiated through the function rclcpp::create_publisher().

Parameters

[in]	node_base	NodeBaseInterface pointer that is used in part of the setup.
[in]	topic	Name of the topic to publish to.
[in]	qos	QoS profile for Subcription.
[in]	options	options for the subscription.

◆ ~Publisher()

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

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

inlinevirtual

Member Function Documentation

◆ post_init_setup()

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

virtual void rclcpp::Publisher< MessageT, AllocatorT >::post_init_setup	(	rclcpp::node_interfaces::NodeBaseInterface *	node_base,
		const std::string &	topic,
		const rclcpp::QoS &	qos,
		const rclcpp::PublisherOptionsWithAllocator< AllocatorT > &	options
	)

inlinevirtual

Called post construction, so that construction may continue after shared_from_this() works.

◆ borrow_loaned_message()

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

rclcpp::LoanedMessage<MessageT, AllocatorT> rclcpp::Publisher< MessageT, AllocatorT >::borrow_loaned_message ( )

inline

Borrow a loaned ROS message from the middleware.

If the middleware is capable of loaning memory for a ROS message instance, the loaned message will be directly allocated in the middleware. If not, the message allocator of this rclcpp::Publisher instance is being used.

With a call to

See also: publish the LoanedMessage instance is being returned to the middleware or free'd accordingly to the allocator. If the message is not being published but processed differently, the destructor of this class will either return the message to the middleware or deallocate it via the internal allocator.; rclcpp::LoanedMessage for details of the LoanedMessage class.

Returns: LoanedMessage containing memory for a ROS message of type MessageT

◆ publish() [1/5]

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

virtual void rclcpp::Publisher< MessageT, AllocatorT >::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 AllocatorT = std::allocator<void>>

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

inlinevirtual

◆ publish() [3/5]

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

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

inline

◆ publish() [4/5]

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

void rclcpp::Publisher< MessageT, AllocatorT >::publish ( const SerializedMessage & serialized_msg )

inline

◆ publish() [5/5]

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

void rclcpp::Publisher< MessageT, AllocatorT >::publish ( rclcpp::LoanedMessage< MessageT, AllocatorT > && loaned_msg )

inline

Publish an instance of a LoanedMessage.

When publishing a loaned message, the memory for this ROS message will be deallocated after being published. The instance of the loaned message is no longer valid after this call.

Parameters

loaned_msg The LoanedMessage instance to be published.

◆ get_allocator()

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

std::shared_ptr<MessageAllocator> rclcpp::Publisher< MessageT, AllocatorT >::get_allocator ( ) const

inline

◆ do_inter_process_publish()

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

void rclcpp::Publisher< MessageT, AllocatorT >::do_inter_process_publish ( const MessageT & msg )

inlineprotected

◆ do_serialized_publish()

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

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

inlineprotected

◆ do_loaned_message_publish()

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

void rclcpp::Publisher< MessageT, AllocatorT >::do_loaned_message_publish ( MessageT * msg )

inlineprotected

◆ do_intra_process_publish()

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

void rclcpp::Publisher< MessageT, AllocatorT >::do_intra_process_publish ( std::unique_ptr< MessageT, MessageDeleter > msg )

inlineprotected

◆ do_intra_process_publish_and_return_shared()

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

std::shared_ptr<const MessageT> rclcpp::Publisher< MessageT, AllocatorT >::do_intra_process_publish_and_return_shared ( std::unique_ptr< MessageT, MessageDeleter > msg )

inlineprotected

Member Data Documentation

◆ options_

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

const rclcpp::PublisherOptionsWithAllocator<AllocatorT> rclcpp::Publisher< MessageT, AllocatorT >::options_

protected

Copy of original options passed during construction.

It is important to save a copy of this so that the rmw payload which it may contain is kept alive for the duration of the publisher.

◆ message_allocator_

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

std::shared_ptr<MessageAllocator> rclcpp::Publisher< MessageT, AllocatorT >::message_allocator_

protected

◆ message_deleter_

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

MessageDeleter rclcpp::Publisher< MessageT, AllocatorT >::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 AllocatorT = std::allocator<void>> class rclcpp::Publisher< MessageT, AllocatorT >

Member Typedef Documentation

◆ MessageAllocatorTraits

◆ MessageAllocator

◆ MessageDeleter

◆ MessageUniquePtr

◆ MessageSharedPtr

Constructor & Destructor Documentation

◆ Publisher()

◆ ~Publisher()

Member Function Documentation

◆ post_init_setup()

◆ borrow_loaned_message()

◆ publish() [1/5]

◆ publish() [2/5]

◆ publish() [3/5]

◆ publish() [4/5]

◆ publish() [5/5]

◆ get_allocator()

◆ do_inter_process_publish()

◆ do_serialized_publish()

◆ do_loaned_message_publish()

◆ do_intra_process_publish()

◆ do_intra_process_publish_and_return_shared()

Member Data Documentation

◆ options_

◆ message_allocator_

◆ message_deleter_

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