Struct SubscriptionOptionsBase

Nested Relationships

Nested Types

Inheritance Relationships

Derived Types

Struct Documentation

struct SubscriptionOptionsBase

Non-template base class for subscription options.

Subclassed by rclcpp::SubscriptionOptionsWithAllocator< std::allocator< void > >, rclcpp::SubscriptionOptionsWithAllocator< Allocator >

Public Members

SubscriptionEventCallbacks event_callbacks

Callbacks for events related to this subscription.

bool use_default_callbacks = true

Whether or not to use default callbacks when user doesn’t supply any in event_callbacks.

bool ignore_local_publications = false

True to ignore local publications.

rmw_unique_network_flow_endpoints_requirement_t require_unique_network_flow_endpoints = RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_NOT_REQUIRED

Require middleware to generate unique network flow endpoints Disabled by default

rclcpp::CallbackGroup::SharedPtr callback_group = nullptr

The callback group for this subscription. NULL to use the default callback group.

IntraProcessSetting use_intra_process_comm = IntraProcessSetting::NodeDefault

Setting to explicitly set intraprocess communications.

IntraProcessBufferType intra_process_buffer_type = IntraProcessBufferType::CallbackDefault

Setting the data-type stored in the intraprocess buffer.

std::shared_ptr<rclcpp::detail::RMWImplementationSpecificSubscriptionPayload> rmw_implementation_payload = nullptr

Optional RMW implementation specific payload to be used during creation of the subscription.

TopicStatisticsOptions topic_stats_options
QosOverridingOptions qos_overriding_options
ContentFilterOptions content_filter_options
struct TopicStatisticsOptions

Public Members

TopicStatisticsState state = TopicStatisticsState::NodeDefault
std::string publish_topic = "/statistics"
std::chrono::milliseconds publish_period = {std::chrono::seconds(1)}
rclcpp::QoS qos = SystemDefaultsQoS().keep_last(10)