A helper class for easy publishing of ROS messages for debugging purposes. More...

#include <dynamic_publisher.h>

Public Member Functions
	DynamicPublisher ()
	A no-parameter constructor. More...

	DynamicPublisher (const ros::NodeHandle &nh)
	The main constructor. More...

template<class T >
void	publish (const std::string name, const T &msg)
	Publishes a message to a topic, advertising the topic if necessary. More...

Detailed Description

A helper class for easy publishing of ROS messages for debugging purposes.

This class enables you to just call the publish() method with a topic name and a message without the need to advertise the topic.

Note: This class should only be used for debugging and not for regular publishing as it introduces some overhead.

Examples: dynamic_publisher/example.cpp.

Constructor & Destructor Documentation

◆ DynamicPublisher() [1/2]

mrs_lib::DynamicPublisher::DynamicPublisher ( )

A no-parameter constructor.

This overload will use a ros::NodeHandle with default arguments for advertising new topics, so remappings, namespaces etc. will be ignored.

◆ DynamicPublisher() [2/2]

mrs_lib::DynamicPublisher::DynamicPublisher ( const ros::NodeHandle & nh )

The main constructor.

This overload uses the ros::NodeHandle that you provided for advertising new topics. The recommended way of constructing a DynamicPublisher.

Member Function Documentation

◆ publish()

template<class T >

void mrs_lib::DynamicPublisher::publish	(	const std::string	name,
		const T &	msg
	)

Publishes a message to a topic, advertising the topic if necessary.

The topic is advertised with the type of the first message published to it. If you try to publish a different type of message on the topic, it will be ignored.

Warning: Take care to always publish the same message type to the topic to avoid being spammed with errors.

Examples: dynamic_publisher/example.cpp.

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