Struct PublisherFactory

• Defined in File publisher_factory.hpp

Struct Documentation

struct PublisherFactory

Factory with functions used to create a MessageT specific PublisherT.

This factory class is used to encapsulate the template generated functions which are used during the creation of a Message type specific publisher within a non-templated class.

It is created using the create_publisher_factory function, which is usually called from a templated “create_publisher” method on the Node class, and is passed to the non-templated “create_publisher” method on the NodeTopics class where it is used to create and setup the Publisher.

It also handles the two step construction of Publishers, first calling the constructor and then the post_init_setup() method.

Public Types

using PublisherFactoryFunction = std::function<rclcpp::PublisherBase::SharedPtr(rclcpp::node_interfaces::NodeBaseInterface *node_base, const std::string &topic_name, const rclcpp::QoS &qos)>

Public Members

const PublisherFactoryFunction create_typed_publisher