publisher_wrapper.h

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#pragma once
 
#if PACKAGE_ROS_VERSION == 1
#else
 
#include "rclcpp/rclcpp.hpp"
 
class PublisherWrapperBase
{
   public:
        PublisherWrapperBase() = default;
        virtual ~PublisherWrapperBase() = default;
        virtual void publish(std::shared_ptr<void> message) = 0;
};
 
template <typename MessageT>
class PublisherWrapper : public PublisherWrapperBase
{
   public:
        PublisherWrapper(rclcpp::Node::SharedPtr node, const std::string& topic_name, size_t qos)
                : publisher_(node->create_publisher<MessageT>(topic_name, qos))
        {
        }
 
        void publish(std::shared_ptr<void> msg) override
        {
                const auto typed_msg = std::static_pointer_cast<MessageT>(msg);
                if (typed_msg)
                {
                        publisher_->publish(*typed_msg);
                }
                else
                {
                        RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "Failed to cast message to correct type.");
                }
        }
 
   private:
        typename rclcpp::Publisher<MessageT>::SharedPtr publisher_;
};
 
#endif