Template Class Publisher

• Defined in File publisher_mock.hpp

Inheritance Relationships

Base Type

• public PublisherBase

Class Documentation

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

Public Types

using PublishedType = typename rclcpp::TypeAdapter<MessageT>::custom_type

MessageT::custom_type if MessageT is a TypeAdapter, otherwise just MessageT.

using ROSMessageType = typename rclcpp::TypeAdapter<MessageT>::ros_message_type

using PublishedTypeAllocatorTraits = allocator::AllocRebind<PublishedType, AllocatorT>

using PublishedTypeAllocator = typename PublishedTypeAllocatorTraits::allocator_type

using PublishedTypeDeleter = allocator::Deleter<PublishedTypeAllocator, PublishedType>

using ROSMessageTypeAllocatorTraits = allocator::AllocRebind<ROSMessageType, AllocatorT>

using ROSMessageTypeAllocator = typename ROSMessageTypeAllocatorTraits::allocator_type

using ROSMessageTypeDeleter = allocator::Deleter<ROSMessageTypeAllocator, ROSMessageType>

using BufferSharedPtr = typename rclcpp::experimental::buffers::IntraProcessBuffer<ROSMessageType, ROSMessageTypeAllocator, ROSMessageTypeDeleter>::SharedPtr

Public Functions

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

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

inline virtual ~Publisher()

inline void publish_(const MessageT &msg)

Internal sink publish with activation control.

Parameters:

msg – published message

inline size_t get_subscription_count()

Get the subscriptions count.

Returns:

number of real and fake subscriptions

inline rclcpp::LoanedMessage<ROSMessageType, AllocatorT> borrow_loaned_message()

template<typename T>
inline std::enable_if_t<rosidl_generator_traits::is_message<T>::value && std::is_same<T, ROSMessageType>::value> publish(std::unique_ptr<T, ROSMessageTypeDeleter> msg)

template<typename T>
inline std::enable_if_t<rosidl_generator_traits::is_message<T>::value && std::is_same<T, ROSMessageType>::value> publish(const T &msg)

template<typename T>
inline std::enable_if_t<rclcpp::TypeAdapter<MessageT>::is_specialized::value && std::is_same<T, PublishedType>::value> publish(std::unique_ptr<T, PublishedTypeDeleter> msg)

template<typename T>
inline std::enable_if_t<rclcpp::TypeAdapter<MessageT>::is_specialized::value && std::is_same<T, PublishedType>::value> publish(const T &msg)

inline void publish(const rcl_serialized_message_t &serialized_msg)

inline void publish(const SerializedMessage &serialized_msg)

inline void publish(rclcpp::LoanedMessage<ROSMessageType, AllocatorT> &&loaned_msg)

inline std::unique_ptr<ROSMessageType, ROSMessageTypeDeleter> duplicate_ros_message_as_unique_ptr(const ROSMessageType &msg)

Public Members

const rclcpp::PublisherOptionsWithAllocator<AllocatorT> options_

PublishedTypeAllocator published_type_allocator_

PublishedTypeDeleter published_type_deleter_

ROSMessageTypeAllocator ros_message_type_allocator_

ROSMessageTypeDeleter ros_message_type_deleter_

BufferSharedPtr buffer_ = {nullptr}