Class LaserPublisher

Defined in File laser_publisher.hpp

Class Documentation

class LaserPublisher

Public Functions

explicit LASER_PROC_PUBLIC LaserPublisher(rclcpp::Node::SharedPtr &nh, uint32_t queue_size, bool publish_echoes = true)

explicit LASER_PROC_PUBLIC LaserPublisher(std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface> topics_interface, uint32_t queue_size, bool publish_echoes = true)

LASER_PROC_PUBLIC size_t getNumSubscribers () const

Returns the number of subscribers that are currently connected to this LaserPublisher.

Returns sum of all child publishers.

LASER_PROC_PUBLIC std::vector< std::string > getTopics () const: Returns the topics of this LaserPublisher.

LASER_PROC_PUBLIC void publish (const sensor_msgs::msg::MultiEchoLaserScan &msg) const: Publish a MultiEchoLaserScan on the topics associated with this LaserPublisher.

LASER_PROC_PUBLIC void publish (sensor_msgs::msg::MultiEchoLaserScan::ConstSharedPtr msg) const: Publish a MultiEchoLaserScan on the topics associated with this LaserPublisher.

LASER_PROC_PUBLIC void shutdown (): Shutdown the advertisements associated with this Publisher.

LASER_PROC_PUBLIC operator void*() const

inline LASER_PROC_PUBLIC bool operator< (const LaserPublisher &rhs) const

inline LASER_PROC_PUBLIC bool operator!= (const LaserPublisher &rhs) const

inline LASER_PROC_PUBLIC bool operator== (const LaserPublisher &rhs) const