moveit_studio::behaviors::PublisherInterfaceBase< MessageT > Class Template Reference

Defines an interface to a publisher that sends a message to a topic. More...

#include <publisher_interface.hpp>

Inheritance diagram for moveit_studio::behaviors::PublisherInterfaceBase< MessageT >:

Public Member Functions
virtual	~PublisherInterfaceBase ()=default
virtual tl::expected< void, std::string >	initialize (const std::string &topic_name, const size_t queue_size, const bool use_best_effort)=0
	Virtual function to initialize the publisher interface. More...
virtual tl::expected< void, std::string >	publish (const MessageT &message)=0
	Virtual function to publish a message to a topic. More...

Detailed Description

template<typename MessageT>
class moveit_studio::behaviors::PublisherInterfaceBase< MessageT >

Defines an interface to a publisher that sends a message to a topic.

Template Parameters

MessageT

Message type used to specialize this class.

Constructor & Destructor Documentation

~PublisherInterfaceBase()

template<typename MessageT >

virtual moveit_studio::behaviors::PublisherInterfaceBase< MessageT >::~PublisherInterfaceBase ( )

virtualdefault

Member Function Documentation

initialize()

template<typename MessageT >

virtual tl::expected<void, std::string> moveit_studio::behaviors::PublisherInterfaceBase< MessageT >::initialize ( const std::string &  topic_name, const size_t  queue_size, const bool  use_best_effort  )

pure virtual

Virtual function to initialize the publisher interface.

Parameters

topic_name	Name of the topic to use in the publisher interface.
queue_size	The queue size for the publisher interface.
use_best_effort	Whether best_effort should be used or not for the publisher interface.

Returns

Void if the publisher interface was initialized successfully. If initialization failed, an error message string is returned.

Implemented in moveit_studio::behaviors::RclcppPublisherInterface< MessageT >.

publish()

template<typename MessageT >

virtual tl::expected<void, std::string> moveit_studio::behaviors::PublisherInterfaceBase< MessageT >::publish ( const MessageT &  message )

pure virtual

Virtual function to publish a message to a topic.

Parameters

message

The message to publish.

Returns

Void if the publisher sent the message successfully. If message publishing failed, an error message string is returned.

Implemented in moveit_studio::behaviors::RclcppPublisherInterface< MessageT >.

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

• publisher_interface.hpp