Publisher for serialized messages whose type is not known at compile time. More...

#include <rclcpp/generic_publisher.hpp>

Inheritance diagram for rclcpp::GenericPublisher:

Collaboration diagram for rclcpp::GenericPublisher:

[legend]

Public Member Functions
template<typename AllocatorT = std::allocator<void>>
	GenericPublisher (rclcpp::node_interfaces::NodeBaseInterface *node_base, std::shared_ptr< rcpputils::SharedLibrary > ts_lib, const std::string &topic_name, const std::string &topic_type, const rclcpp::QoS &qos, const rclcpp::PublisherOptionsWithAllocator< AllocatorT > &options)
	Constructor. More...

RCLCPP_PUBLIC void	publish (const rclcpp::SerializedMessage &message)
	Publish a rclcpp::SerializedMessage.

RCLCPP_PUBLIC void	publish_as_loaned_msg (const rclcpp::SerializedMessage &message)

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, 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.

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

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

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

RCLCPP_PUBLIC void	default_incompatible_type_callback (IncompatibleTypeInfo &info) const

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::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

Publisher for serialized messages whose type is not known at compile time.

Since the type is not known at compile time, this is not a template, and the dynamic library containing type support information has to be identified and loaded based on the type name.

It does not support intra-process handling.

Definition at line 46 of file generic_publisher.hpp.

Constructor & Destructor Documentation

◆ GenericPublisher()

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

rclcpp::GenericPublisher::GenericPublisher	(	rclcpp::node_interfaces::NodeBaseInterface *	node_base,
		std::shared_ptr< rcpputils::SharedLibrary >	ts_lib,
		const std::string &	topic_name,
		const std::string &	topic_type,
		const rclcpp::QoS &	qos,
		const rclcpp::PublisherOptionsWithAllocator< AllocatorT > &	options
	)

inline

Constructor.

In order to properly publish to a topic, this publisher needs to be added to the node_topic_interface of the node passed into this constructor.

See also: rclcpp::Node::create_generic_publisher() or rclcpp::create_generic_publisher() for creating an instance of this class and adding it to the node_topic_interface.

Parameters

node_base	Pointer to parent node's NodeBaseInterface
ts_lib	Type support library, needs to correspond to topic_type
topic_name	Topic name
topic_type	Topic type
qos	QoS settings
options	Publisher options. Not all publisher options are currently respected, the only relevant options for this publisher are `event_callbacks`, `use_default_callbacks`, and `callback_group`.

Definition at line 70 of file generic_publisher.hpp.

Member Function Documentation

◆ publish_as_loaned_msg()

void rclcpp::GenericPublisher::publish_as_loaned_msg ( const rclcpp::SerializedMessage & message )

Publish a rclcpp::SerializedMessage via loaned message after de-serialization.

Parameters

message a serialized message

Exceptions

anything rclcpp::exceptions::throw_from_rcl_error can show

Definition at line 38 of file generic_publisher.cpp.

References rclcpp::SerializedMessage::get_rcl_serialized_message().

Here is the call graph for this function:

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

rclcpp/include/rclcpp/generic_publisher.hpp
rclcpp/src/rclcpp/generic_publisher.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ GenericPublisher()

Member Function Documentation

◆ publish_as_loaned_msg()