.. _program_listing_file_include_rclcpp_node_interfaces_node_topics_interface.hpp:

Program Listing for File node_topics_interface.hpp
==================================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rclcpp_node_interfaces_node_topics_interface.hpp>` (``include/rclcpp/node_interfaces/node_topics_interface.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2016 Open Source Robotics Foundation, Inc.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef RCLCPP__NODE_INTERFACES__NODE_TOPICS_INTERFACE_HPP_
   #define RCLCPP__NODE_INTERFACES__NODE_TOPICS_INTERFACE_HPP_
   
   #include <functional>
   #include <memory>
   #include <string>
   
   #include "rcl/publisher.h"
   #include "rcl/subscription.h"
   
   #include "rclcpp/callback_group.hpp"
   #include "rclcpp/macros.hpp"
   #include "rclcpp/node_interfaces/node_base_interface.hpp"
   #include "rclcpp/node_interfaces/node_timers_interface.hpp"
   #include "rclcpp/publisher.hpp"
   #include "rclcpp/publisher_factory.hpp"
   #include "rclcpp/subscription.hpp"
   #include "rclcpp/subscription_factory.hpp"
   #include "rclcpp/visibility_control.hpp"
   
   namespace rclcpp
   {
   namespace node_interfaces
   {
   
   class NodeTopicsInterface
   {
   public:
     RCLCPP_SMART_PTR_ALIASES_ONLY(NodeTopicsInterface)
   
     RCLCPP_PUBLIC
     virtual
     ~NodeTopicsInterface() = default;
   
     RCLCPP_PUBLIC
     virtual
     rclcpp::PublisherBase::SharedPtr
     create_publisher(
       const std::string & topic_name,
       const rclcpp::PublisherFactory & publisher_factory,
       const rclcpp::QoS & qos) = 0;
   
     RCLCPP_PUBLIC
     virtual
     void
     add_publisher(
       rclcpp::PublisherBase::SharedPtr publisher,
       rclcpp::CallbackGroup::SharedPtr callback_group) = 0;
   
     RCLCPP_PUBLIC
     virtual
     rclcpp::SubscriptionBase::SharedPtr
     create_subscription(
       const std::string & topic_name,
       const rclcpp::SubscriptionFactory & subscription_factory,
       const rclcpp::QoS & qos) = 0;
   
     RCLCPP_PUBLIC
     virtual
     void
     add_subscription(
       rclcpp::SubscriptionBase::SharedPtr subscription,
       rclcpp::CallbackGroup::SharedPtr callback_group) = 0;
   
     RCLCPP_PUBLIC
     virtual
     rclcpp::node_interfaces::NodeBaseInterface *
     get_node_base_interface() const = 0;
   
     RCLCPP_PUBLIC
     virtual
     rclcpp::node_interfaces::NodeTimersInterface *
     get_node_timers_interface() const = 0;
   
     RCLCPP_PUBLIC
     virtual
     std::string
     resolve_topic_name(const std::string & name, bool only_expand = false) const = 0;
   };
   
   }  // namespace node_interfaces
   }  // namespace rclcpp
   
   #endif  // RCLCPP__NODE_INTERFACES__NODE_TOPICS_INTERFACE_HPP_