Publisher for serialized messages whose type is not known at compile time. More...

#include <generic_publisher.hpp>

Inheritance diagram for rclcpp::GenericPublisher:

Collaboration diagram for rclcpp::GenericPublisher:

[legend]

Public Member Functions
template<typename AllocatorT = std::allocator<void>>
	GenericPublisher (rclcpp::node_interfaces::NodeBaseInterface *node_base, std::shared_ptr< rcpputils::SharedLibrary > ts_lib, const std::string &topic_name, const std::string &topic_type, const rclcpp::QoS &qos, const rclcpp::PublisherOptionsWithAllocator< AllocatorT > &options)
	Constructor. More...

virtual	~GenericPublisher ()=default

void	publish (const rclcpp::SerializedMessage &message)
	Publish a rclcpp::SerializedMessage. More...

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...

std::vector< rclcpp::NetworkFlowEndpoint >	get_network_flow_endpoints () const
	Get network flow endpoints. 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)

Additional Inherited Members
Public Types inherited from rclcpp::PublisherBase
using	IntraProcessManagerSharedPtr = std::shared_ptr< rclcpp::experimental::IntraProcessManager >

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

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 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_

Detailed Description

Publisher for serialized messages whose type is not known at compile time.

Since the type is not known at compile time, this is not a template, and the dynamic library containing type support information has to be identified and loaded based on the type name.

It does not support intra-process handling.

Constructor & Destructor Documentation

◆ GenericPublisher()

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

rclcpp::GenericPublisher::GenericPublisher	(	rclcpp::node_interfaces::NodeBaseInterface *	node_base,
		std::shared_ptr< rcpputils::SharedLibrary >	ts_lib,
		const std::string &	topic_name,
		const std::string &	topic_type,
		const rclcpp::QoS &	qos,
		const rclcpp::PublisherOptionsWithAllocator< AllocatorT > &	options
	)

inline

Constructor.

In order to properly publish to a topic, this publisher needs to be added to the node_topic_interface of the node passed into this constructor.

See also: rclcpp::Node::create_generic_publisher() or rclcpp::create_generic_publisher() for creating an instance of this class and adding it to the node_topic_interface.

Parameters

node_base	Pointer to parent node's NodeBaseInterface
ts_lib	Type support library, needs to correspond to topic_type
topic_name	Topic name
topic_type	Topic type
qos	QoS settings
callback	Callback for new messages of serialized form
options	Publisher options. Not all publisher options are currently respected, the only relevant options for this publisher are `event_callbacks`, `use_default_callbacks`, and `callback_group`.

◆ ~GenericPublisher()

virtual rclcpp::GenericPublisher::~GenericPublisher ( )

virtualdefault

Member Function Documentation

◆ publish()

void rclcpp::GenericPublisher::publish ( const rclcpp::SerializedMessage & message )

Publish a rclcpp::SerializedMessage.

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

include/rclcpp/generic_publisher.hpp