Class RMWImplementationSpecificPublisherPayload

• Defined in File rmw_implementation_specific_publisher_payload.hpp

Inheritance Relationships

Base Type

• public rclcpp::detail::RMWImplementationSpecificPayload (Class RMWImplementationSpecificPayload)

Class Documentation

class RMWImplementationSpecificPublisherPayload : public rclcpp::detail::RMWImplementationSpecificPayload

Public Functions

~RMWImplementationSpecificPublisherPayload() override = default

virtual void modify_rmw_publisher_options(rmw_publisher_options_t &rmw_publisher_options) const

Opportunity for a derived class to inject information into the rcl options.

This is called after the rcl_publisher_options_t has been prepared by rclcpp, but before rcl_publisher_init() is called.

The passed option is the rmw_publisher_options field of the rcl_publisher_options_t that will be passed to rcl_publisher_init().

By default the options are unmodified.