A publisher publishes messages of any type to a topic. More...

#include <rclcpp/publisher.hpp>

Inheritance diagram for rclcpp::Publisher< MessageT, AllocatorT >:

Collaboration diagram for rclcpp::Publisher< MessageT, AllocatorT >:

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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	MessageAllocatorTraits = PublishedTypeAllocatorTraits

using	MessageAllocator = PublishedTypeAllocator

using	MessageDeleter = PublishedTypeDeleter

using	MessageUniquePtr = std::unique_ptr< PublishedType, PublishedTypeDeleter >

using	MessageSharedPtr = std::shared_ptr< const PublishedType >

Public Types inherited from rclcpp::PublisherBase
using	IntraProcessManagerSharedPtr = std::shared_ptr< rclcpp::experimental::IntraProcessManager >

Public Member Functions
	Publisher (rclcpp::node_interfaces::NodeBaseInterface *node_base, const std::string &topic, const rclcpp::QoS &qos, const rclcpp::PublisherOptionsWithAllocator< AllocatorT > &options)
	Default constructor. More...

virtual void	post_init_setup (rclcpp::node_interfaces::NodeBaseInterface *node_base, const std::string &topic, const rclcpp::QoS &qos, const rclcpp::PublisherOptionsWithAllocator< AllocatorT > &options)
	Called post construction, so that construction may continue after shared_from_this() works.

rclcpp::LoanedMessage< ROSMessageType, AllocatorT >	borrow_loaned_message ()
	Borrow a loaned ROS message from the middleware. More...

template<typename T >
std::enable_if_t< rosidl_generator_traits::is_message< T >::value &&std::is_same< T, ROSMessageType >::value >	publish (std::unique_ptr< T, ROSMessageTypeDeleter > msg)
	Publish a message on the topic. More...

template<typename T >
std::enable_if_t< rosidl_generator_traits::is_message< T >::value &&std::is_same< T, ROSMessageType >::value >	publish (const T &msg)
	Publish a message on the topic. More...

template<typename T >
std::enable_if_t< rclcpp::TypeAdapter< MessageT >::is_specialized::value &&std::is_same< T, PublishedType >::value >	publish (std::unique_ptr< T, PublishedTypeDeleter > msg)
	Publish a message on the topic. More...

template<typename T >
std::enable_if_t< rclcpp::TypeAdapter< MessageT >::is_specialized::value &&std::is_same< T, PublishedType >::value >	publish (const T &msg)
	Publish a message on the topic. More...

void	publish (const rcl_serialized_message_t &serialized_msg)

void	publish (const SerializedMessage &serialized_msg)

void	publish (rclcpp::LoanedMessage< ROSMessageType, AllocatorT > &&loaned_msg)
	Publish an instance of a LoanedMessage. More...

std::shared_ptr< PublishedTypeAllocator >	get_allocator () const

PublishedTypeAllocator	get_published_type_allocator () const

ROSMessageTypeAllocator	get_ros_message_type_allocator () const

Public Member Functions inherited from rclcpp::PublisherBase
RCLCPP_PUBLIC	PublisherBase (rclcpp::node_interfaces::NodeBaseInterface *node_base, const std::string &topic, const rosidl_message_type_support_t &type_support, const rcl_publisher_options_t &publisher_options)
	Default constructor. More...

RCLCPP_PUBLIC const char *	get_topic_name () const
	Get the topic that this publisher publishes on. More...

RCLCPP_PUBLIC size_t	get_queue_size () const
	Get the queue size for this publisher. More...

RCLCPP_PUBLIC const rmw_gid_t &	get_gid () const
	Get the global identifier for this publisher (used in rmw and by DDS). More...

RCLCPP_PUBLIC std::shared_ptr< rcl_publisher_t >	get_publisher_handle ()
	Get the rcl publisher handle. More...

RCLCPP_PUBLIC std::shared_ptr< const rcl_publisher_t >	get_publisher_handle () const
	Get the rcl publisher handle. More...

RCLCPP_PUBLIC const std::unordered_map< rcl_publisher_event_type_t, std::shared_ptr< rclcpp::QOSEventHandlerBase > > &	get_event_handlers () const
	Get all the QoS event handlers associated with this publisher. More...

RCLCPP_PUBLIC size_t	get_subscription_count () const
	Get subscription count. More...

RCLCPP_PUBLIC size_t	get_intra_process_subscription_count () const
	Get intraprocess subscription count. More...

RCLCPP_PUBLIC RCUTILS_WARN_UNUSED bool	assert_liveliness () const
	Manually assert that this Publisher is alive (for RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC). More...

RCLCPP_PUBLIC rclcpp::QoS	get_actual_qos () const
	Get the actual QoS settings, after the defaults have been determined. More...

RCLCPP_PUBLIC bool	can_loan_messages () const
	Check if publisher instance can loan messages. More...

RCLCPP_PUBLIC bool	operator== (const rmw_gid_t &gid) const
	Compare this publisher to a gid. More...

RCLCPP_PUBLIC bool	operator== (const rmw_gid_t *gid) const
	Compare this publisher to a pointer gid. More...

RCLCPP_PUBLIC void	setup_intra_process (uint64_t intra_process_publisher_id, IntraProcessManagerSharedPtr ipm)
	Implementation utility function used to setup intra process publishing after creation.

RCLCPP_PUBLIC std::vector< rclcpp::NetworkFlowEndpoint >	get_network_flow_endpoints () const
	Get network flow endpoints. More...

template<typename DurationRepT = int64_t, typename DurationT = std::milli>
bool	wait_for_all_acked (std::chrono::duration< DurationRepT, DurationT > timeout=std::chrono::duration< DurationRepT, DurationT >(-1)) const
	Wait until all published messages are acknowledged or until the specified timeout elapses. More...

void	set_on_new_qos_event_callback (std::function< void(size_t)> callback, rcl_publisher_event_type_t event_type)
	Set a callback to be called when each new qos event instance occurs. More...

void	clear_on_new_qos_event_callback (rcl_publisher_event_type_t event_type)
	Unset the callback registered for new qos events, if any.

Protected Member Functions
void	do_inter_process_publish (const ROSMessageType &msg)

void	do_serialized_publish (const rcl_serialized_message_t *serialized_msg)

void	do_loaned_message_publish (std::unique_ptr< ROSMessageType, std::function< void(ROSMessageType *)>> msg)

void	do_intra_process_publish (std::unique_ptr< PublishedType, PublishedTypeDeleter > msg)

void	do_intra_process_ros_message_publish (std::unique_ptr< ROSMessageType, ROSMessageTypeDeleter > msg)

std::shared_ptr< const ROSMessageType >	do_intra_process_ros_message_publish_and_return_shared (std::unique_ptr< ROSMessageType, ROSMessageTypeDeleter > msg)

std::unique_ptr< ROSMessageType, ROSMessageTypeDeleter >	create_ros_message_unique_ptr ()
	Return a new unique_ptr using the ROSMessageType of the publisher.

std::unique_ptr< ROSMessageType, ROSMessageTypeDeleter >	duplicate_ros_message_as_unique_ptr (const ROSMessageType &msg)
	Duplicate a given ros message as a unique_ptr.

std::unique_ptr< PublishedType, PublishedTypeDeleter >	duplicate_type_adapt_message_as_unique_ptr (const PublishedType &msg)
	Duplicate a given type adapted message as a unique_ptr.

Protected Member Functions inherited from rclcpp::PublisherBase
template<typename EventCallbackT >
void	add_event_handler (const EventCallbackT &callback, const rcl_publisher_event_type_t event_type)

RCLCPP_PUBLIC void	default_incompatible_qos_callback (QOSOfferedIncompatibleQoSInfo &info) const

Protected Attributes
const rclcpp::PublisherOptionsWithAllocator< AllocatorT >	options_
	Copy of original options passed during construction. More...

PublishedTypeAllocator	published_type_allocator_

PublishedTypeDeleter	published_type_deleter_

ROSMessageTypeAllocator	ros_message_type_allocator_

ROSMessageTypeDeleter	ros_message_type_deleter_

Protected Attributes inherited from rclcpp::PublisherBase
std::shared_ptr< rcl_node_t >	rcl_node_handle_

std::shared_ptr< rcl_publisher_t >	publisher_handle_

std::unordered_map< rcl_publisher_event_type_t, std::shared_ptr< rclcpp::QOSEventHandlerBase > >	event_handlers_

bool	intra_process_is_enabled_

IntraProcessManagerWeakPtr	weak_ipm_

uint64_t	intra_process_publisher_id_

rmw_gid_t	rmw_gid_

const rosidl_message_type_support_t	type_support_

Additional Inherited Members
Protected Types inherited from rclcpp::PublisherBase
using	IntraProcessManagerWeakPtr = std::weak_ptr< rclcpp::experimental::IntraProcessManager >

Detailed Description

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

A publisher publishes messages of any type to a topic.

MessageT must be a:

ROS message type with its own type support (e.g. std_msgs::msgs::String), or a
rclcpp::TypeAdapter<CustomType, ROSMessageType> (e.g. rclcpp::TypeAdapter<std::string, std_msgs::msg::String), or a
custom type that has been setup as the implicit type for a ROS type using RCLCPP_USING_CUSTOM_TYPE_AS_ROS_MESSAGE_TYPE(custom_type, ros_message_type)

In the case that MessageT is ROS message type (e.g. std_msgs::msg::String), both PublishedType and ROSMessageType will be that type. In the case that MessageT is a TypeAdapter<CustomType, ROSMessageType> type (e.g. TypeAdapter<std::string, std_msgs::msg::String>), PublishedType will be the custom type, and ROSMessageType will be the ros message type.

This is achieved because of the "identity specialization" for TypeAdapter, which returns itself if it is already a TypeAdapter, and the default specialization which allows ROSMessageType to be void.

See also: rclcpp::TypeAdapter for more details.

Definition at line 77 of file publisher.hpp.

Constructor & Destructor Documentation

◆ Publisher()

template<typename MessageT , typename AllocatorT = std::allocator<void>>

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

inline

Default constructor.

The constructor for a Publisher is almost never called directly. Instead, subscriptions should be instantiated through the function rclcpp::create_publisher().

Parameters

[in]	node_base	NodeBaseInterface pointer that is used in part of the setup.
[in]	topic	Name of the topic to publish to.
[in]	qos	QoS profile for Subcription.
[in]	options	Options for the subscription.

Definition at line 125 of file publisher.hpp.

References rclcpp::Publisher< MessageT, AllocatorT >::options_.

Member Function Documentation

◆ borrow_loaned_message()

template<typename MessageT , typename AllocatorT = std::allocator<void>>

rclcpp::LoanedMessage<ROSMessageType, AllocatorT> rclcpp::Publisher< MessageT, AllocatorT >::borrow_loaned_message ( )

inline

Borrow a loaned ROS message from the middleware.

If the middleware is capable of loaning memory for a ROS message instance, the loaned message will be directly allocated in the middleware. If not, the message allocator of this rclcpp::Publisher instance is being used.

With a call to

See also: publish the LoanedMessage instance is being returned to the middleware or free'd accordingly to the allocator. If the message is not being published but processed differently, the destructor of this class will either return the message to the middleware or deallocate it via the internal allocator.; rclcpp::LoanedMessage for details of the LoanedMessage class.

Returns: LoanedMessage containing memory for a ROS message of type ROSMessageType

Definition at line 231 of file publisher.hpp.

◆ publish() [1/5]

template<typename MessageT , typename AllocatorT = std::allocator<void>>

template<typename T >

std::enable_if_t< rosidl_generator_traits::is_message<T>::value && std::is_same<T, ROSMessageType>::value > rclcpp::Publisher< MessageT, AllocatorT >::publish ( const T & msg )

inline

Publish a message on the topic.

This signature is enabled if the object being published is a ROS message type, as opposed to the custom_type of a TypeAdapter, and that type matches the type given when creating the publisher.

This signature allows the user to give a reference to a message, which is copied onto the heap without modification so that a copy can be owned by rclcpp and ownership of the copy can be moved later if needed.

Parameters

[in] msg A const reference to the message to send.

Definition at line 295 of file publisher.hpp.

References rclcpp::Publisher< MessageT, AllocatorT >::duplicate_ros_message_as_unique_ptr(), and rclcpp::Publisher< MessageT, AllocatorT >::publish().

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◆ publish() [2/5]

template<typename MessageT , typename AllocatorT = std::allocator<void>>

template<typename T >

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

inline

Publish a message on the topic.

This signature is enabled if this class was created with a TypeAdapter and the given type matches the custom_type of the TypeAdapter.

This signature allows the user to give a reference to a message, which is copied onto the heap without modification so that a copy can be owned by rclcpp and ownership of the copy can be moved later if needed.

Parameters

[in] msg A const reference to the message to send.

Definition at line 367 of file publisher.hpp.

References rclcpp::Publisher< MessageT, AllocatorT >::duplicate_type_adapt_message_as_unique_ptr(), and rclcpp::Publisher< MessageT, AllocatorT >::publish().

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◆ publish() [3/5]

template<typename MessageT , typename AllocatorT = std::allocator<void>>

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

inline

Publish an instance of a LoanedMessage.

When publishing a loaned message, the memory for this ROS message will be deallocated after being published. The instance of the loaned message is no longer valid after this call.

Parameters

loaned_msg The LoanedMessage instance to be published.

Definition at line 406 of file publisher.hpp.

References rclcpp::PublisherBase::can_loan_messages().

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◆ publish() [4/5]

template<typename MessageT , typename AllocatorT = std::allocator<void>>

template<typename T >

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

inline

Publish a message on the topic.

This signature is enabled if this class was created with a TypeAdapter and the element_type of the std::unique_ptr matches the custom_type for the TypeAdapter used with this class.

This signature allows the user to give ownership of the message to rclcpp, allowing for more efficient intra-process communication optimizations.

Parameters

[in] msg A unique pointer to the message to send.

Definition at line 325 of file publisher.hpp.

References rclcpp::PublisherBase::get_intra_process_subscription_count(), and rclcpp::PublisherBase::get_subscription_count().

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◆ publish() [5/5]

template<typename MessageT , typename AllocatorT = std::allocator<void>>

template<typename T >

std::enable_if_t< rosidl_generator_traits::is_message<T>::value && std::is_same<T, ROSMessageType>::value > rclcpp::Publisher< MessageT, AllocatorT >::publish ( std::unique_ptr< T, ROSMessageTypeDeleter > msg )

inline

Publish a message on the topic.

This signature is enabled if the element_type of the std::unique_ptr is a ROS message type, as opposed to the custom_type of a TypeAdapter, and that type matches the type given when creating the publisher.

This signature allows the user to give ownership of the message to rclcpp, allowing for more efficient intra-process communication optimizations.

Parameters

[in] msg A unique pointer to the message to send.

Definition at line 254 of file publisher.hpp.

References rclcpp::PublisherBase::get_intra_process_subscription_count(), and rclcpp::PublisherBase::get_subscription_count().

Referenced by rclcpp::Publisher< MessageT, AllocatorT >::publish(), rclcpp::topic_statistics::SubscriptionTopicStatistics< CallbackMessageT >::publish_message_and_reset_measurements(), and rclcpp::node_interfaces::NodeParameters::set_parameters_atomically().

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