Class DesertPublisher

Class Documentation

class DesertPublisher

Public Functions

DesertPublisher(std::string topic_name, const rosidl_message_type_support_t *type_supports, rmw_gid_t gid)

Create a publisher.

Parameters:

  • topic_name – Name of the topic used to push the messages

  • type_supports – Pointer to the message data structure coming from the ROS upper layers

  • gid – Global identifier of the entity

void push(const void *msg)

Send a publication on the topic.

The push function starts a transmission with the topic name in the current instance and then serializes the message using the method from the MessageSerialization namespace. A discrimination is made between C members and C++ members based on the type support.

Parameters:

msg – Pointer to the message to send

rmw_gid_t get_gid()

Retreive the gid of the current entity.

This function returns the global identifier of the current entity in the rmw format.

Returns:

Global identifier of the entity

std::string get_topic_name()

Retreive the topic name of the current entity.

This function returns a string containing the topic name of the current entity.

Returns:

Name of the topic

std::string get_type_name()

Retreive the message type of the current entity.

This function returns a string containing the message type name of the current entity.

Returns:

Type of the message