mrs_lib::Publisher< MessageType > Class Template Reference

Wrapper for rclcpp::Publisher. More...

#include <publisher.hpp>

Public Member Functions
	Publisher (const PublisherOptions &options, std::string_view topic_name)
	construct a publisher using the specified options.
void	publish (const MessageType &msg)
	Publish a message.
void	publish (std::unique_ptr< MessageType > msg)
	Publish a message.
std::string	get_topic_name () const
	Returns the resolved (full) name of the topic handled by this publisher.
std::string	get_unresolved_topic_name () const
	Returns the unresolved name of the topic handled by this publisher.
size_t	get_subscriber_count () const
	Get number of subscribers on the published topic.

Detailed Description

template<class MessageType>
class mrs_lib::Publisher< MessageType >

Wrapper for rclcpp::Publisher.

Template Parameters

MessageType

Type of the message to publish.

Constructor & Destructor Documentation

Publisher()

template<class MessageType>

mrs_lib::Publisher< MessageType >::Publisher	(	const PublisherOptions &	options,
		std::string_view	topic_name )

construct a publisher using the specified options.

Parameters

options	Configuration of the publisher.
topic_name	Name of the topic to publish to.

Member Function Documentation

get_subscriber_count()

template<class MessageType>

size_t mrs_lib::Publisher< MessageType >::get_subscriber_count ( ) const

nodiscard

Get number of subscribers on the published topic.

Returns

The number of subscribers.

get_topic_name()

template<class MessageType>

std::string mrs_lib::Publisher< MessageType >::get_topic_name ( ) const

nodiscard

Returns the resolved (full) name of the topic handled by this publisher.

Returns

The name of the handled topic.

get_unresolved_topic_name()

template<class MessageType>

std::string mrs_lib::Publisher< MessageType >::get_unresolved_topic_name ( ) const

nodiscard

Returns the unresolved name of the topic handled by this publisher.

Returns

The name of the handled topic.

publish() [1/2]

template<class MessageType>

void mrs_lib::Publisher< MessageType >::publish

(

const MessageType &

msg

)

Publish a message.

Parameters

msg	Message to publish.

publish() [2/2]

template<class MessageType>

void mrs_lib::Publisher< MessageType >::publish

(

std::unique_ptr< MessageType >

msg

)

Publish a message.

Parameters

msg	Message to publish.

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

• /home/runner/work/mrs_lib/mrs_lib/include/mrs_lib/publisher.hpp
• /home/runner/work/mrs_lib/mrs_lib/include/mrs_lib/publisher.impl.hpp