Struct BridgeConfig

Defined in File bridge_config.hpp

Struct Documentation

struct BridgeConfig

Public Functions

rclcpp::QoS PublisherQoS() const: Get the resolved QoS for publishers. It does not reflect QoS overrides.

rclcpp::QoS SubscriberQoS() const: Get the resolved QoS for subscribers. It does not reflect QoS overrides.

Public Members

std::string ros_type_name: The ROS message type (eg std_msgs/msg/String)

std::string ros_topic_name: The ROS topic name to bridge.

std::string gz_type_name: The Gazebo message type (eg ignition.msgs.String) Used with topic bridges.

std::string gz_topic_name: The Gazebo topic name to bridge.

BridgeDirection direction = kDefaultDirection : Connectivity of the bridge.

std::optional<size_t> subscriber_queue_size: Depth of the subscriber queue.

std::optional<size_t> publisher_queue_size: Depth of the publisher queue.

bool is_lazy = kDefaultLazy : Flag to change the “laziness” of the bridge.

std::optional<rclcpp::QoS> qos_profile: QoS profile (unresolved, might have wrong depth).

Note

Use PublisherQoS() and SubscriberQoS() to get the final QoS.

std::string service_name: The ROS service name (eg ~/get_parameters)

std::string gz_req_type_name: The ROS service type request.

std::string gz_rep_type_name: The ROS service type response.