Function rmw_publisher_assert_liveliness

Function Documentation

rmw_ret_t rmw_publisher_assert_liveliness(const rmw_publisher_t *publisher)

Manually assert that this Publisher is alive (for RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC)

If the rmw Liveliness policy is set to RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC, the creator of this publisher may manually call assert_liveliness at some point in time to signal to the rest of the system that this Node is still alive.

Attribute

Adherence

Allocates Memory

No

Thread-Safe

Yes

Uses Atomics

No

Lock-Free

Yes

Parameters:

publisher – [in] handle to the publisher that needs liveliness to be asserted

Returns:

RMW_RET_OK if the liveliness assertion was completed successfully, or

Returns:

RMW_RET_ERROR if an unspecified error occurs, or

Returns:

RMW_RET_UNSUPPORTED if the rmw implementation does not support asserting liveliness.