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C++ ROS Client Library API
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create_publisher.hpp File Reference
#include <memory>
#include <string>
#include "rclcpp/node_interfaces/get_node_topics_interface.hpp"
#include "rclcpp/node_interfaces/node_topics_interface.hpp"
#include "rclcpp/node_options.hpp"
#include "rclcpp/publisher_factory.hpp"
#include "rclcpp/publisher_options.hpp"
#include "rclcpp/qos.hpp"
#include "rmw/qos_profiles.h"
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 This header provides the get_node_base_interface() template function.


template<typename MessageT , typename AllocatorT = std::allocator<void>, typename PublisherT = rclcpp::Publisher<MessageT, AllocatorT>, typename NodeT >
std::shared_ptr< PublisherT > rclcpp::create_publisher (NodeT &node, const std::string &topic_name, const rclcpp::QoS &qos, const rclcpp::PublisherOptionsWithAllocator< AllocatorT > &options=(rclcpp::PublisherOptionsWithAllocator< AllocatorT >()))
 Create and return a publisher of the given MessageT type. More...