Inheritance diagram for rclcpp::PublisherBase:

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Collaboration diagram for rclcpp::PublisherBase:

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

Public Member Functions
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, const PublisherEventCallbacks &event_callbacks, bool use_default_callbacks)
	Default constructor. More...

RCLCPP_PUBLIC void	bind_event_callbacks (const PublisherEventCallbacks &event_callbacks, bool use_default_callbacks)
	Add event handlers for passed in event_callbacks.

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::EventHandlerBase > > &	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 bool	is_durability_transient_local () const
	Get if durability is transient local. 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...

RCLCPP_PUBLIC size_t	lowest_available_ipm_capacity () const
	Return the lowest available capacity for all subscription buffers. 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 Types
using	IntraProcessManagerWeakPtr = std::weak_ptr< rclcpp::experimental::IntraProcessManager >

Protected Member Functions
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

RCLCPP_PUBLIC void	default_incompatible_type_callback (IncompatibleTypeInfo &info) const

Protected Attributes
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::EventHandlerBase > >	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_

const PublisherEventCallbacks	event_callbacks_

Detailed Description

Definition at line 60 of file publisher_base.hpp.

Constructor & Destructor Documentation

◆ PublisherBase()

PublisherBase::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,
		const PublisherEventCallbacks &	event_callbacks,
		bool	use_default_callbacks
	)

Default constructor.

Typically, a publisher is not created through this method, but instead is created through a call to Node::create_publisher.

Parameters

[in]	node_base	A pointer to the NodeBaseInterface for the parent node.
[in]	topic	The topic that this publisher publishes on.
[in]	type_support	The type support structure for the type to be published.
[in]	publisher_options	QoS settings for this publisher.

Definition at line 44 of file publisher_base.cpp.

References bind_event_callbacks(), rclcpp::expand_topic_or_service_name(), rclcpp::Logger::get_child(), rclcpp::get_node_logger(), rcl_get_zero_initialized_publisher(), rcl_node_get_name(), rcl_node_get_namespace(), rcl_publisher_fini(), rcl_publisher_get_rmw_handle(), rcl_publisher_init(), RCL_RET_OK, and RCL_RET_TOPIC_NAME_INVALID.

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Member Function Documentation

◆ assert_liveliness()

bool PublisherBase::assert_liveliness ( ) const

Manually assert that this Publisher is alive (for RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC).

If the rmw Liveliness policy is set to RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC, the creator of this publisher may manually call assert_liveliness at some point in time to signal to the rest of the system that this Node is still alive.

Returns: true if the liveliness was asserted successfully, otherwise false

Definition at line 314 of file publisher_base.cpp.

References rcl_publisher_assert_liveliness(), and RCL_RET_OK.

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◆ can_loan_messages()

bool PublisherBase::can_loan_messages ( ) const

Check if publisher instance can loan messages.

Depending on the middleware and the message type, this will return true if the middleware can allocate a ROS message instance.

Definition at line 320 of file publisher_base.cpp.

References rcl_publisher_can_loan_messages().

Referenced by rclcpp::LoanedMessage< MessageT, AllocatorT >::LoanedMessage(), rclcpp::Publisher< MessageT, AllocatorT >::publish(), rclcpp::LoanedMessage< MessageT, AllocatorT >::release(), and rclcpp::LoanedMessage< MessageT, AllocatorT >::~LoanedMessage().

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◆ get_actual_qos()

rclcpp::QoS PublisherBase::get_actual_qos ( ) const

Get the actual QoS settings, after the defaults have been determined.

The actual configuration applied when using RMW_QOS_POLICY_*_SYSTEM_DEFAULT can only be resolved after the creation of the publisher, and it depends on the underlying rmw implementation. If the underlying setting in use can't be represented in ROS terms, it will be set to RMW_QOS_POLICY_*_UNKNOWN. May throw runtime_error when an unexpected error occurs.

Returns: The actual qos settings.

Definition at line 301 of file publisher_base.cpp.

References rclcpp::QoSInitialization::from_rmw(), and rcl_publisher_get_actual_qos().

Referenced by rclcpp::Publisher< MessageT, AllocatorT >::post_init_setup().

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◆ get_event_handlers()

const std::unordered_map< rcl_publisher_event_type_t, std::shared_ptr< rclcpp::EventHandlerBase > > & PublisherBase::get_event_handlers ( ) const

Get all the QoS event handlers associated with this publisher.

Returns: The map of QoS event handlers.

Definition at line 246 of file publisher_base.cpp.

◆ get_gid()

const rmw_gid_t & PublisherBase::get_gid ( ) const

Get the global identifier for this publisher (used in rmw and by DDS).

Returns: The gid.

Definition at line 227 of file publisher_base.cpp.

Referenced by operator==().

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◆ get_intra_process_subscription_count()

size_t PublisherBase::get_intra_process_subscription_count ( ) const

Get intraprocess subscription count.

Returns: The number of intraprocess subscriptions.

Definition at line 277 of file publisher_base.cpp.

Referenced by rclcpp::Publisher< MessageT, AllocatorT >::publish().

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◆ get_network_flow_endpoints()

std::vector< rclcpp::NetworkFlowEndpoint > PublisherBase::get_network_flow_endpoints ( ) const

Get network flow endpoints.

Describes network flow endpoints that this publisher is sending messages out on

Returns: vector of NetworkFlowEndpoint

Definition at line 377 of file publisher_base.cpp.

References RCL_RET_OK.

◆ get_publisher_handle() [1/2]

std::shared_ptr< rcl_publisher_t > PublisherBase::get_publisher_handle ( )

Get the rcl publisher handle.

Returns: The rcl publisher handle.

Definition at line 233 of file publisher_base.cpp.

Referenced by rclcpp::LoanedMessage< MessageT, AllocatorT >::LoanedMessage(), rclcpp::GenericPublisher::publish(), and rclcpp::LoanedMessage< MessageT, AllocatorT >::~LoanedMessage().

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◆ get_publisher_handle() [2/2]

std::shared_ptr< const rcl_publisher_t > PublisherBase::get_publisher_handle ( ) const

Get the rcl publisher handle.

Returns: The rcl publisher handle.

Definition at line 239 of file publisher_base.cpp.

◆ get_queue_size()

size_t PublisherBase::get_queue_size ( ) const

Get the queue size for this publisher.

Returns: The queue size.

Definition at line 214 of file publisher_base.cpp.

References rcl_publisher_options_s::qos, and rcl_publisher_get_options().

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◆ get_subscription_count()

size_t PublisherBase::get_subscription_count ( ) const

Get subscription count.

Returns: The number of subscriptions.

Definition at line 252 of file publisher_base.cpp.

References rcl_context_is_valid(), rcl_publisher_get_context(), rcl_publisher_get_subscription_count(), rcl_publisher_is_valid_except_context(), RCL_RET_OK, and RCL_RET_PUBLISHER_INVALID.

Referenced by rclcpp::Publisher< MessageT, AllocatorT >::publish().

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◆ get_topic_name()

const char * PublisherBase::get_topic_name ( ) const

Get the topic that this publisher publishes on.

Returns: The topic name.

Definition at line 129 of file publisher_base.cpp.

References rcl_publisher_get_topic_name().

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◆ is_durability_transient_local()

bool PublisherBase::is_durability_transient_local ( ) const

Get if durability is transient local.

Returns: If durability is transient local

Definition at line 294 of file publisher_base.cpp.

References rcl_publisher_get_actual_qos().

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◆ lowest_available_ipm_capacity()

size_t PublisherBase::lowest_available_ipm_capacity ( ) const

Return the lowest available capacity for all subscription buffers.

For intraprocess communication return the lowest buffer capacity for all subscriptions. If intraprocess is disabled or no intraprocess subscriptions present, return maximum of size_t. On failure return 0.

Returns: lowest buffer capacity for all subscriptions

Definition at line 413 of file publisher_base.cpp.

References rclcpp::get_logger().

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◆ operator==() [1/2]

bool PublisherBase::operator== ( const rmw_gid_t & gid ) const

Compare this publisher to a gid.

Note that this function calls the next function.

Parameters

[in] gid Reference to a gid.

Returns: True if the publisher's gid matches the input.

Definition at line 326 of file publisher_base.cpp.

◆ operator==() [2/2]

bool PublisherBase::operator== ( const rmw_gid_t * gid ) const

Compare this publisher to a pointer gid.

A wrapper for comparing this publisher's gid to the input using rmw_compare_gids_equal.

Parameters

[in] gid A pointer to a gid.

Returns: True if this publisher's gid matches the input.

Definition at line 332 of file publisher_base.cpp.

References get_gid().

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◆ set_on_new_qos_event_callback()

void rclcpp::PublisherBase::set_on_new_qos_event_callback	(	std::function< void(size_t)>	callback,
		rcl_publisher_event_type_t	event_type
	)

inline

Set a callback to be called when each new qos event instance occurs.

The callback receives a size_t which is the number of events that occurred since the last time this callback was called. Normally this is 1, but can be > 1 if events occurred before any callback was set.

Since this callback is called from the middleware, you should aim to make it fast and not blocking. If you need to do a lot of work or wait for some other event, you should spin it off to another thread, otherwise you risk blocking the middleware.

Calling it again will clear any previously set callback.

An exception will be thrown if the callback is not callable.

This function is thread-safe.

If you want more information available in the callback, like the qos event or other information, you may use a lambda with captures or std::bind.

See also: rclcpp::EventHandlerBase::set_on_ready_callback

Parameters

[in]	callback	functor to be called when a new event occurs
[in]	event_type	identifier for the qos event we want to attach the callback to

Definition at line 302 of file publisher_base.hpp.

References rclcpp::get_logger().

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◆ wait_for_all_acked()

template<typename DurationRepT = int64_t, typename DurationT = std::milli>

bool rclcpp::PublisherBase::wait_for_all_acked ( std::chrono::duration< DurationRepT, DurationT > timeout = std::chrono::duration<DurationRepT, DurationT>(-1) ) const

inline

Wait until all published messages are acknowledged or until the specified timeout elapses.

This method waits until all published messages are acknowledged by all matching subscriptions or the given timeout elapses.

If the timeout is negative then this method will block indefinitely until all published messages are acknowledged. If the timeout is zero then this method will not block, it will check if all published messages are acknowledged and return immediately. If the timeout is greater than zero, this method will wait until all published messages are acknowledged or the timeout elapses.

This method only waits for acknowledgments if the publisher's QoS profile is RELIABLE. Otherwise this method will immediately return true.

Parameters

[in] timeout the duration to wait for all published messages to be acknowledged.

Returns: true if all published messages were acknowledged before the given timeout elapsed, otherwise false.

Exceptions

rclcpp::exceptions::RCLError	if middleware doesn't support or internal error occurs
std::invalid_argument	if timeout is greater than std::chrono::nanoseconds::max() or less than std::chrono::nanoseconds::min()

Definition at line 259 of file publisher_base.hpp.

References rcl_publisher_wait_for_all_acked(), RCL_RET_OK, and RCL_RET_TIMEOUT.

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

rclcpp/include/rclcpp/publisher_base.hpp
rclcpp/src/rclcpp/publisher_base.cpp

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PublisherBase()

Member Function Documentation

◆ assert_liveliness()

◆ can_loan_messages()

◆ get_actual_qos()

◆ get_event_handlers()

◆ get_gid()

◆ get_intra_process_subscription_count()

◆ get_network_flow_endpoints()

◆ get_publisher_handle() [1/2]

◆ get_publisher_handle() [2/2]

◆ get_queue_size()

◆ get_subscription_count()

◆ get_topic_name()

◆ is_durability_transient_local()

◆ lowest_available_ipm_capacity()

◆ operator==() [1/2]

◆ operator==() [2/2]

◆ set_on_new_qos_event_callback()

◆ wait_for_all_acked()