nav2_util::TwistPublisher Class Reference

A simple wrapper on a Twist publisher that provides either Twist or TwistStamped. More...

#include <nav2_util/include/nav2_util/twist_publisher.hpp>

Collaboration diagram for nav2_util::TwistPublisher:

Public Member Functions
	TwistPublisher (nav2::LifecycleNode::SharedPtr node, const std::string &topic, const rclcpp::QoS &qos=nav2::qos::StandardTopicQoS())
	A constructor. More...
void	on_activate ()
void	on_deactivate ()
bool	is_activated () const
void	publish (std::unique_ptr< geometry_msgs::msg::TwistStamped > velocity)
size_t	get_subscription_count () const

Protected Attributes
std::string	topic_
bool	is_stamped_ {true}
nav2::Publisher< geometry_msgs::msg::Twist >::SharedPtr	twist_pub_
nav2::Publisher< geometry_msgs::msg::TwistStamped >::SharedPtr	twist_stamped_pub_

Detailed Description

A simple wrapper on a Twist publisher that provides either Twist or TwistStamped.

The default is to publish Twist to preserve backwards compatibility, but it can be overridden using the "enable_stamped_cmd_vel" parameter to publish TwistStamped.

Definition at line 46 of file twist_publisher.hpp.

Constructor & Destructor Documentation

TwistPublisher()

nav2_util::TwistPublisher::TwistPublisher ( nav2::LifecycleNode::SharedPtr  node, const std::string &  topic, const rclcpp::QoS &  qos = nav2::qos::StandardTopicQoS()  )

inlineexplicit

A constructor.

Parameters

nh	The node
topic	publisher topic name
qos	publisher quality of service

Definition at line 55 of file twist_publisher.hpp.

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

• nav2_util/include/nav2_util/twist_publisher.hpp