Program Listing for File publisher.h

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#ifndef SWRI_ROSCPP_PUBLISHER_H_
#define SWRI_ROSCPP_PUBLISHER_H_

#include <rclcpp/rclcpp.hpp>

namespace swri
{
  template<typename M>
  typename rclcpp::Publisher<M>::SharedPtr advertise(
      rclcpp::Node &nh,
      const std::string name,
      uint32_t queue_size,
      bool latched=false)
  {
    RCLCPP_INFO(nh.get_logger(), "Publishing [%s].",
                name.c_str());
    rclcpp::QoS qos(queue_size);
    if (latched)
    {
      qos = qos.transient_local();
    }
    return nh.create_publisher<M>(name, qos);
  }
}  // namespace swri
#endif  // SWRI_ROSCPP_PUBLISHER_H_