rclcpp
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C++ ROS Client Library API
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15 #ifndef RCLCPP__NODE_INTERFACES__NODE_TOPICS_INTERFACE_HPP_
16 #define RCLCPP__NODE_INTERFACES__NODE_TOPICS_INTERFACE_HPP_
22 #include "rcl/publisher.h"
23 #include "rcl/subscription.h"
37 namespace node_interfaces
52 rclcpp::PublisherBase::SharedPtr
62 rclcpp::PublisherBase::SharedPtr publisher,
63 rclcpp::CallbackGroup::SharedPtr callback_group) = 0;
67 rclcpp::SubscriptionBase::SharedPtr
77 rclcpp::SubscriptionBase::SharedPtr subscription,
78 rclcpp::CallbackGroup::SharedPtr callback_group) = 0;
94 #endif // RCLCPP__NODE_INTERFACES__NODE_TOPICS_INTERFACE_HPP_
Factory with functions used to create a MessageT specific PublisherT.
Definition: publisher_factory.hpp:50
#define RCLCPP_SMART_PTR_ALIASES_ONLY(...)
Definition: macros.hpp:66
virtual rclcpp::SubscriptionBase::SharedPtr create_subscription(const std::string &topic_name, const rclcpp::SubscriptionFactory &subscription_factory, const rclcpp::QoS &qos)=0
This header provides the get_node_base_interface() template function.
Definition: allocator_common.hpp:24
#define RCLCPP_PUBLIC
Definition: visibility_control.hpp:50
Pure virtual interface class for the NodeBase part of the Node API.
Definition: node_base_interface.hpp:36
Encapsulation of Quality of Service settings.
Definition: qos.hpp:59
Pure virtual interface class for the NodeTimers part of the Node API.
Definition: node_timers_interface.hpp:29
virtual void add_publisher(rclcpp::PublisherBase::SharedPtr publisher, rclcpp::CallbackGroup::SharedPtr callback_group)=0
virtual rclcpp::node_interfaces::NodeBaseInterface * get_node_base_interface() const =0
virtual rclcpp::node_interfaces::NodeTimersInterface * get_node_timers_interface() const =0
Pure virtual interface class for the NodeTopics part of the Node API.
Definition: node_topics_interface.hpp:41
Factory containing a function used to create a Subscription<MessageT>.
Definition: subscription_factory.hpp:54
virtual ~NodeTopicsInterface()=default
virtual rclcpp::PublisherBase::SharedPtr create_publisher(const std::string &topic_name, const rclcpp::PublisherFactory &publisher_factory, const rclcpp::QoS &qos)=0
virtual void add_subscription(rclcpp::SubscriptionBase::SharedPtr subscription, rclcpp::CallbackGroup::SharedPtr callback_group)=0