Function rcl_publisher_fini

Function Documentation

rcl_ret_t rcl_publisher_fini(rcl_publisher_t *publisher, rcl_node_t *node)

Finalize a rcl_publisher_t.

After calling, the node will no longer be advertising that it is publishing on this topic (assuming this is the only publisher on this topic).

After calling, calls to rcl_publish will fail when using this publisher. However, the given node handle is still valid.

Attribute

Adherence

Allocates Memory

Yes

Thread-Safe

No

Uses Atomics

No

Lock-Free

Yes

Parameters:

  • publisher – [inout] handle to the publisher to be finalized

  • node – [in] a valid (not finalized) handle to the node used to create the publisher

Returns:

RCL_RET_OK if publisher was finalized successfully, or

Returns:

RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or

Returns:

RCL_RET_PUBLISHER_INVALID if the publisher is invalid, or

Returns:

RCL_RET_NODE_INVALID if the node is invalid, or

Returns:

RCL_RET_ERROR if an unspecified error occurs.