Function rcl_publisher_get_rmw_handle

• Defined in File publisher.h

Function Documentation

rmw_publisher_t *rcl_publisher_get_rmw_handle(const rcl_publisher_t *publisher)

Return the rmw publisher handle.

The handle returned is a pointer to the internally held rmw handle. This function can fail, and therefore return NULL, if the:

• publisher is NULL

• publisher is invalid (never called init, called fini, or invalid node)

The returned handle is made invalid if the publisher is finalized or if rcl_shutdown() is called. The returned handle is not guaranteed to be valid for the life time of the publisher as it may be finalized and recreated itself. Therefore it is recommended to get the handle from the publisher using this function each time it is needed and avoid use of the handle concurrently with functions that might change it.

Attribute	Adherence
Allocates Memory	No
Thread-Safe	No
Uses Atomics	No
Lock-Free	Yes

Parameters:

publisher – [in] pointer to the rcl publisher

Returns:

rmw publisher handle if successful, otherwise NULL