mrs_lib::SubscriberOptions Struct Reference

Options for configuring the Subscriber. More...

#include <subscriber.hpp>

Public Attributes
SubscriberNodeInterfaces	node_interfaces
	ROS node interfaces used by the subscriber.
rclcpp::QoS	qos = rclcpp::SystemDefaultsQoS()
	QOS settings for the subscriber.
std::shared_ptr< rclcpp::CallbackGroup >	callback_group = nullptr
	ROS callback group used by the subscriber callbacks.
std::optional< std::chrono::nanoseconds >	no_message_timeout = std::nullopt
	Time after which timeout callback is called if no message is received.
std::shared_ptr< mrs_lib::TimeoutManager2 >	timeout_manager = nullptr
	Timeout manager used for the no message timeout.
std::function< void(std::string_view topic_name, rclcpp::Time last_msg)>	timeout_callback = {}
	Timeout manager used for the no message timeout.

Detailed Description

Options for configuring the Subscriber.

Member Data Documentation

timeout_callback

std::function<void(std::string_view topic_name, rclcpp::Time last_msg)> mrs_lib::SubscriberOptions::timeout_callback = {}

Timeout manager used for the no message timeout.

If not set, a default will be used.

timeout_manager

std::shared_ptr<mrs_lib::TimeoutManager2> mrs_lib::SubscriberOptions::timeout_manager = nullptr

Timeout manager used for the no message timeout.

If nullptr and timeout is set, the Subscriber will create its own timeout manager.

---

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

• /home/runner/work/mrs_lib/mrs_lib/include/mrs_lib/subscriber.hpp