Template Struct PublisherOptionsWithAllocator

• Defined in File publisher_options.hpp

Inheritance Relationships

Base Type

• public rclcpp::PublisherOptionsBase (Struct PublisherOptionsBase)

Struct Documentation

template<typename Allocator>
struct PublisherOptionsWithAllocator : public rclcpp::PublisherOptionsBase

Structure containing optional configuration for Publishers.

Public Functions

inline PublisherOptionsWithAllocator()

inline explicit PublisherOptionsWithAllocator(const PublisherOptionsBase &publisher_options_base)

Constructor using base class as input.

template<typename MessageT>
inline rcl_publisher_options_t to_rcl_publisher_options(const rclcpp::QoS &qos) const

Convert this class, and a rclcpp::QoS, into an rcl_publisher_options_t.

inline std::shared_ptr<Allocator> get_allocator() const

Get the allocator, creating one if needed.

Public Members

std::shared_ptr<Allocator> allocator = nullptr

Optional custom allocator.