Struct rmw_publisher_s

• Defined in File types.h

Struct Documentation

struct rmw_publisher_s

Structure which encapsulates an rmw publisher.

Public Members

const char *implementation_identifier

Name of the rmw implementation.

void *data

Type erased pointer to this publisher’s data.

const char *topic_name

The name of the ROS topic this publisher publishes to.

rmw_publisher_options_t options

Publisher options.

The options structure passed to rmw_create_publisher() should be assigned to this field by the rmw implementation. The fields should not be modified after creation, but the contents of the options structure may or may not be const, i.e. shallow const-ness. This field is not marked const to avoid any const casting during setup.

bool can_loan_messages

Indicate whether this publisher supports loaning messages.