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Version: 2.0.0

ROS2 Publishers

Creating a latched publisher​

Latching can be enabled through QoS.

  1. Setup a QoS profile using a baseline of your choice.
rclcpp::QoS qos_profile = rclcpp::SystemDefaultsQoS();
  1. Enable the transient_local() durability setting:
qos_profile.transient_local();
  1. Pass the QoS profile to the publisher handler using the PublisherHandlerOptions:
mrs_lib::PublisherHandlerOptions ph_options;

ph_options.node = node_;
ph_options.qos = qos_profile;

ph_my_topic_ = mrs_lib::PublisherHandler<my_type>(ph_options, "~/topic_out");