Struct MqttClient::Ros2MqttInterface

Nested Relationships

This struct is a nested type of Class MqttClient.

Struct Documentation

struct Ros2MqttInterface

Struct containing variables related to a ROS2MQTT connection.

Public Members

rclcpp::GenericSubscription::SharedPtr subscriber

generic ROS subscriber

std::string msg_type

message type of subscriber

int queue_size = 1

ROS subscriber queue size.

bool is_stale = false

whether a new generic publisher/subscriber is required

std::optional<rclcpp::ReliabilityPolicy> reliability
std::optional<rclcpp::DurabilityPolicy> durability
struct mqtt_client::MqttClient::Ros2MqttInterface qos
struct mqtt_client::MqttClient::Ros2MqttInterface ros

ROS-related variables.

std::string topic

MQTT topic.

int qos = 0

MQTT QoS value.

bool retained = false

whether to retain MQTT message

struct mqtt_client::MqttClient::Ros2MqttInterface mqtt

MQTT-related variables.

bool fixed_type = false

whether the published message type is specified explicitly

bool primitive = false

whether to publish as primitive message

bool stamped = false

whether to inject timestamp in MQTT message