Class Publisher

• Defined in File publisher.hpp

Class Documentation

class Publisher

Public Functions

POINT_CLOUD_TRANSPORT_PUBLIC Publisher() = default

Constructor.

POINT_CLOUD_TRANSPORT_PUBLIC Publisher(std::shared_ptr<rclcpp::Node> node, const std::string &base_topic, PubLoaderPtr loader, rmw_qos_profile_t custom_qos, const rclcpp::PublisherOptions &options = rclcpp::PublisherOptions())

POINT_CLOUD_TRANSPORT_PUBLIC uint32_t getNumSubscribers () const

get total number of subscribers to all advertised topics.

POINT_CLOUD_TRANSPORT_PUBLIC std::string getTopic () const

get base topic of this Publisher

POINT_CLOUD_TRANSPORT_PUBLIC void publish (const sensor_msgs::msg::PointCloud2 &message) const

Publish a point cloud on the topics associated with this Publisher.

POINT_CLOUD_TRANSPORT_PUBLIC void publish (const sensor_msgs::msg::PointCloud2::ConstSharedPtr &message) const

Publish a point cloud on the topics associated with this Publisher.

POINT_CLOUD_TRANSPORT_PUBLIC void shutdown ()

Shutdown the advertisements associated with this Publisher.

POINT_CLOUD_TRANSPORT_PUBLIC operator void*() const

inline POINT_CLOUD_TRANSPORT_PUBLIC bool operator< (const point_cloud_transport::Publisher &rhs) const

inline POINT_CLOUD_TRANSPORT_PUBLIC bool operator!= (const point_cloud_transport::Publisher &rhs) const

inline POINT_CLOUD_TRANSPORT_PUBLIC bool operator== (const point_cloud_transport::Publisher &rhs) const