ros::Publisher Class Reference

Manages an advertisement on a specific topic. More...

#include <publisher.h>

Classes
class	Impl

Public Member Functions
uint32_t	getNumSubscribers () const
	Returns the number of subscribers that are currently connected to this Publisher. More...
std::string	getTopic () const
	Returns the topic that this Publisher will publish on. More...
bool	isLatched () const
	Returns whether or not this topic is latched. More...
	operator void * () const
bool	operator!= (const Publisher &rhs) const
bool	operator< (const Publisher &rhs) const
Publisher &	operator= (const Publisher &other)=default
bool	operator== (const Publisher &rhs) const
template<typename M >
void	publish (const boost::shared_ptr< M > &message) const
	Publish a message on the topic associated with this Publisher. More...
template<typename M >
void	publish (const M &message) const
	Publish a message on the topic associated with this Publisher. More...
	Publisher ()
	Publisher (const Publisher &rhs)
void	shutdown ()
	Shutdown the advertisement associated with this Publisher. More...
	~Publisher ()

Private Types
typedef boost::shared_ptr< Impl >	ImplPtr
typedef boost::weak_ptr< Impl >	ImplWPtr

Private Member Functions
void	incrementSequence () const
void	publish (const boost::function< SerializedMessage(void)> &serfunc, SerializedMessage &m) const
	Publisher (const std::string &topic, const std::string &md5sum, const std::string &datatype, const NodeHandle &node_handle, const SubscriberCallbacksPtr &callbacks)

Private Attributes
ImplPtr	impl_

Friends
class	NodeHandle
class	NodeHandleBackingCollection

Detailed Description

Manages an advertisement on a specific topic.

A Publisher should always be created through a call to NodeHandle::advertise(), or copied from one that was. Once all copies of a specific Publisher go out of scope, any subscriber status callbacks associated with that handle will stop being called. Once all Publishers for a given topic go out of scope the topic will be unadvertised.

Definition at line 47 of file publisher.h.

Member Typedef Documentation

ImplPtr

typedef boost::shared_ptr<Impl> ros::Publisher::ImplPtr

private

Definition at line 197 of file publisher.h.

ImplWPtr

typedef boost::weak_ptr<Impl> ros::Publisher::ImplWPtr

private

Definition at line 198 of file publisher.h.

Constructor & Destructor Documentation

Publisher() [1/3]

ros::Publisher::Publisher ( )

inline

Definition at line 50 of file publisher.h.

Publisher() [2/3]

ros::Publisher::Publisher

(

const Publisher &

rhs

)

Definition at line 69 of file publisher.cpp.

~Publisher()

ros::Publisher::~Publisher

(

)

Definition at line 74 of file publisher.cpp.

Publisher() [3/3]

ros::Publisher::Publisher ( const std::string &  topic, const std::string &  md5sum, const std::string &  datatype, const NodeHandle &  node_handle, const SubscriberCallbacksPtr &  callbacks  )

private

Definition at line 59 of file publisher.cpp.

Member Function Documentation

getNumSubscribers()

uint32_t ros::Publisher::getNumSubscribers

(

)

const

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

Definition at line 122 of file publisher.cpp.

getTopic()

std::string ros::Publisher::getTopic

(

)

const

Returns the topic that this Publisher will publish on.

Definition at line 112 of file publisher.cpp.

incrementSequence()

void ros::Publisher::incrementSequence ( ) const

private

Definition at line 95 of file publisher.cpp.

isLatched()

bool ros::Publisher::isLatched

(

)

const

Returns whether or not this topic is latched.

Definition at line 132 of file publisher.cpp.

operator void *()

ros::Publisher::operator void * ( ) const

inline

Definition at line 155 of file publisher.h.

operator!=()

bool ros::Publisher::operator!= ( const Publisher &  rhs ) const

inline

Definition at line 167 of file publisher.h.

operator<()

bool ros::Publisher::operator< ( const Publisher &  rhs ) const

inline

Definition at line 157 of file publisher.h.

operator=()

Publisher& ros::Publisher::operator= ( const Publisher &  other )

default

operator==()

bool ros::Publisher::operator== ( const Publisher &  rhs ) const

inline

Definition at line 162 of file publisher.h.

publish() [1/3]

template<typename M >

void ros::Publisher::publish ( const boost::shared_ptr< M > &  message ) const

inline

Publish a message on the topic associated with this Publisher.

This version of publish will allow fast intra-process message-passing in the future, so you may not mutate the message after it has been passed in here (since it will be passed directly into a callback function)

Definition at line 64 of file publisher.h.

publish() [2/3]

template<typename M >

void ros::Publisher::publish ( const M &  message ) const

inline

Publish a message on the topic associated with this Publisher.

Definition at line 99 of file publisher.h.

publish() [3/3]

void ros::Publisher::publish ( const boost::function< SerializedMessage(void)> &  serfunc, SerializedMessage &  m  ) const

private

Definition at line 78 of file publisher.cpp.

shutdown()

void ros::Publisher::shutdown

(

)

Shutdown the advertisement associated with this Publisher.

This method usually does not need to be explicitly called, as automatic shutdown happens when all copies of this Publisher go out of scope

This method overrides the automatic reference counted unadvertise, and does so immediately.

Note

Note that if multiple advertisements were made through NodeHandle::advertise(), this will only remove the one associated with this Publisher

Definition at line 103 of file publisher.cpp.

Friends And Related Function Documentation

NodeHandle

friend class NodeHandle

friend

Definition at line 202 of file publisher.h.

NodeHandleBackingCollection

friend class NodeHandleBackingCollection

friend

Definition at line 203 of file publisher.h.

Member Data Documentation

impl_

ImplPtr ros::Publisher::impl_

private

Definition at line 200 of file publisher.h.

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The documentation for this class was generated from the following files:

• publisher.h
• publisher.cpp