std::shared_ptr< PublisherT > 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.
Definition: create_publisher.hpp:43
std::shared_ptr< rclcpp::node_interfaces::NodeTopicsInterface > get_node_topics_interface(NodeType &&node)
Get the NodeTopicsInterface as a shared pointer from a pointer to a "Node like" object.
Definition: get_node_topics_interface.hpp:72