Implementation of the publisher interface for a rclcpp publisher. More...
#include <publisher_interface.hpp>
Public Member Functions | |
| RclcppPublisherInterface (const std::shared_ptr< rclcpp::Node > node) | |
| tl::expected< void, std::string > | initialize (const std::string &topic_name, const size_t queue_size, const bool use_best_effort) override |
| Initializes the rclcpp publisher interface to publish on the provided topic. More... | |
| tl::expected< void, std::string > | publish (const MessageT &message) override |
| Publish a message to a topic. More... | |
 Public Member Functions inherited from moveit_studio::behaviors::PublisherInterfaceBase< MessageT > | |
| virtual | ~PublisherInterfaceBase ()=default |
Detailed Description
template<typename MessageT>
class moveit_studio::behaviors::RclcppPublisherInterface< MessageT >
Implementation of the publisher interface for a rclcpp publisher.
Constructor & Destructor Documentation
◆ RclcppPublisherInterface()
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explicit |
Member Function Documentation
◆ initialize()
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overridevirtual |
Initializes the rclcpp publisher interface to publish on the provided topic.
If a publisher was previously created for this Behavior (for example, if the Behavior is under a RepeatUntilFailure decorator node), the new topic name is compared to the existing publisher's topic name. The existing publisher's queue_size and reliability QoS settings are also compared to the new queue_size and reliability QoS settings. The publisher is reinitialized if the topic name has changed since it was created, or if the queue_size/reliability QoS settings have changed. Otherwise, the same publisher is reused.
Implements moveit_studio::behaviors::PublisherInterfaceBase< MessageT >.
◆ publish()
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overridevirtual |
Publish a message to a topic.
Implements moveit_studio::behaviors::PublisherInterfaceBase< MessageT >.
The documentation for this class was generated from the following files:
