.. _program_listing_file_include_rclcpp_create_publisher.hpp:

Program Listing for File create_publisher.hpp
=============================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rclcpp_create_publisher.hpp>` (``include/rclcpp/create_publisher.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2016 Open Source Robotics Foundation, Inc.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef RCLCPP__CREATE_PUBLISHER_HPP_
   #define RCLCPP__CREATE_PUBLISHER_HPP_
   
   #include <memory>
   #include <string>
   #include <utility>
   
   #include "rclcpp/node_interfaces/get_node_topics_interface.hpp"
   #include "rclcpp/node_interfaces/node_topics_interface.hpp"
   #include "rclcpp/node_options.hpp"
   #include "rclcpp/publisher_factory.hpp"
   #include "rclcpp/publisher_options.hpp"
   #include "rclcpp/qos.hpp"
   #include "rclcpp/qos_overriding_options.hpp"
   #include "rclcpp/detail/qos_parameters.hpp"
   
   #include "rmw/qos_profiles.h"
   
   namespace rclcpp
   {
   
   namespace detail
   {
   template<
     typename MessageT,
     typename AllocatorT = std::allocator<void>,
     typename PublisherT = rclcpp::Publisher<MessageT, AllocatorT>,
     typename NodeParametersT,
     typename NodeTopicsT>
   std::shared_ptr<PublisherT>
   create_publisher(
     NodeParametersT & node_parameters,
     NodeTopicsT & node_topics,
     const std::string & topic_name,
     const rclcpp::QoS & qos,
     const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = (
       rclcpp::PublisherOptionsWithAllocator<AllocatorT>()
     )
   )
   {
     auto node_topics_interface = rclcpp::node_interfaces::get_node_topics_interface(node_topics);
     const rclcpp::QoS & actual_qos = options.qos_overriding_options.get_policy_kinds().size() ?
       rclcpp::detail::declare_qos_parameters(
       options.qos_overriding_options, node_parameters,
       node_topics_interface->resolve_topic_name(topic_name),
       qos, rclcpp::detail::PublisherQosParametersTraits{}) :
       qos;
   
     // Create the publisher.
     auto pub = node_topics_interface->create_publisher(
       topic_name,
       rclcpp::create_publisher_factory<MessageT, AllocatorT, PublisherT>(options),
       actual_qos
     );
   
     // Add the publisher to the node topics interface.
     node_topics_interface->add_publisher(pub, options.callback_group);
   
     return std::dynamic_pointer_cast<PublisherT>(pub);
   }
   }  // namespace detail
   
   
   
   template<
     typename MessageT,
     typename AllocatorT = std::allocator<void>,
     typename PublisherT = rclcpp::Publisher<MessageT, AllocatorT>,
     typename NodeT>
   std::shared_ptr<PublisherT>
   create_publisher(
     NodeT && node,
     const std::string & topic_name,
     const rclcpp::QoS & qos,
     const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = (
       rclcpp::PublisherOptionsWithAllocator<AllocatorT>()
     )
   )
   {
     return detail::create_publisher<MessageT, AllocatorT, PublisherT>(
       node, node, topic_name, qos, options);
   }
   
   template<
     typename MessageT,
     typename AllocatorT = std::allocator<void>,
     typename PublisherT = rclcpp::Publisher<MessageT, AllocatorT>>
   std::shared_ptr<PublisherT>
   create_publisher(
     rclcpp::node_interfaces::NodeParametersInterface::SharedPtr & node_parameters,
     rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr & node_topics,
     const std::string & topic_name,
     const rclcpp::QoS & qos,
     const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = (
       rclcpp::PublisherOptionsWithAllocator<AllocatorT>()
     )
   )
   {
     return detail::create_publisher<MessageT, AllocatorT, PublisherT>(
       node_parameters, node_topics, topic_name, qos, options);
   }
   
   }  // namespace rclcpp
   
   #endif  // RCLCPP__CREATE_PUBLISHER_HPP_