Class NodeTopicsInterface

• Defined in File node_topics_interface.hpp

Inheritance Relationships

Derived Type

• public rclcpp::node_interfaces::NodeTopics (Class NodeTopics)

Class Documentation

class NodeTopicsInterface

Pure virtual interface class for the NodeTopics part of the Node API.

Subclassed by rclcpp::node_interfaces::NodeTopics

Public Functions

virtual ~NodeTopicsInterface() = default

virtual rclcpp::PublisherBase::SharedPtr create_publisher(const std::string &topic_name, const rclcpp::PublisherFactory &publisher_factory, const rclcpp::QoS &qos) = 0

virtual void add_publisher(rclcpp::PublisherBase::SharedPtr publisher, rclcpp::CallbackGroup::SharedPtr callback_group) = 0

virtual rclcpp::SubscriptionBase::SharedPtr create_subscription(const std::string &topic_name, const rclcpp::SubscriptionFactory &subscription_factory, const rclcpp::QoS &qos) = 0

virtual void add_subscription(rclcpp::SubscriptionBase::SharedPtr subscription, rclcpp::CallbackGroup::SharedPtr callback_group) = 0

virtual rclcpp::node_interfaces::NodeBaseInterface *get_node_base_interface() const = 0

virtual rclcpp::node_interfaces::NodeTimersInterface *get_node_timers_interface() const = 0

virtual std::string resolve_topic_name(const std::string &name, bool only_expand = false) const = 0

Get a remapped and expanded topic name given an input name.