rclcpp::SubscriptionFactory Struct Reference

Factory containing a function used to create a Subscription<MessageT>. More...

#include <rclcpp/subscription_factory.hpp>

Public Types
using	SubscriptionFactoryFunction = std::function< rclcpp::SubscriptionBase::SharedPtr(rclcpp::node_interfaces::NodeBaseInterface *node_base, const std::string &topic_name, const rclcpp::QoS &qos)>

Public Attributes
const SubscriptionFactoryFunction	create_typed_subscription

Detailed Description

Factory containing a function used to create a Subscription<MessageT>.

This factory class is used to encapsulate the template generated function which is used during the creation of a Message type specific subscription within a non-templated class.

It is created using the create_subscription_factory function, which is usually called from a templated "create_subscription" method of the Node class, and is passed to the non-templated "create_subscription" method of the NodeTopics class where it is used to create and setup the Subscription.

It also handles the two step construction of Subscriptions, first calling the constructor and then the post_init_setup() method.

Definition at line 54 of file subscription_factory.hpp.

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

• rclcpp/include/rclcpp/subscription_factory.hpp