Package rospy :: Module topics :: Class Publisher

Class Publisher

object --+    
         |    
     Topic --+
             |
            Publisher

Class for registering as a publisher of a ROS topic.

Instance Methods

__init__(self, name, data_class, subscriber_listener=None, tcp_nodelay=False, latch=False, headers=None)
Constructor

source code

publish(self, *args, **kwds)
Publish message data object to this topic.

source code

int

get_num_connections(self)
get the number of connections to other ROS nodes for this topic. (Inherited from rospy.topics.Topic)

source code

unregister(self)
unpublish/unsubscribe from topic. (Inherited from rospy.topics.Topic)

source code

Inherited from object: __delattr__, __format__, __getattribute__, __hash__, __new__, __reduce__, __reduce_ex__, __repr__, __setattr__, __sizeof__, __str__, __subclasshook__

Properties
Inherited from `object`: `__class__`

Method Details

init(self, name, data_class, subscriber_listener=None, tcp_nodelay=False, latch=False, headers=None)
(Constructor)

source code

Constructor

Parameters:

name (str) - resource name of topic, e.g. 'laser'.
data_class (Message class) - message class for serialization
subscriber_listener (SubscribeListener) - listener for subscription events. May be None.
tcp_nodelay (bool) - If True, sets TCP_NODELAY on publisher's socket (disables Nagle algorithm). This results in lower latency publishing at the cost of efficiency.
latch (bool) - If True, the last message published is 'latched', meaning that any future subscribers will be sent that message immediately upon connection.

Raises:

ROSException - if parameters are invalid

Overrides: object.__init__

publish(self, *args, **kwds)

source code

Publish message data object to this topic. Publish can either be called with the message instance to publish or with the constructor args for a new Message instance, i.e.:

 pub.publish(message_instance)
 pub.publish(message_field_1, message_field_2...)            
 pub.publish(message_field_1='foo', message_field_2='bar')

Parameters:

args - Message instance, message arguments, or no args if keyword arguments are used
kwds - Message keyword arguments. If kwds are used, args must be unset

Raises:

ROSException - If rospy node has not been initialized
ROSSerializationException - If unable to serialize message. This is usually a type error with one of the fields.

Class Publisher

__init__(self, name, data_class, subscriber_listener=None, tcp_nodelay=False, latch=False, headers=None) (Constructor)

publish(self, *args, **kwds)

init(self, name, data_class, subscriber_listener=None, tcp_nodelay=False, latch=False, headers=None)
(Constructor)