Template Class RclcppPublisherWrapper

Class Documentation

template<typename MessageT, typename AllocatorT = std::allocator<void>>
class RclcppPublisherWrapper

A wrapper class for rclcpp::Publisher with virtual methods for publishing and borrowing loan messages.

This class is designed to be used when need to have ability to mock the publisher in tests.

Note

Due to the virtual methods and indirection this class is not as efficient as using rclcpp::Publisher directly, so it should be used only when performance overhead is considered and justified.

Template Parameters:

  • MessageT – must be a ROS message type with its own type support (e. g. std_msgs::msgs::String)

  • AllocatorT – the allocator type used for loaned messages, defaults to std::allocator<void>.

Public Functions

inline explicit RclcppPublisherWrapper(typename rclcpp::Publisher<MessageT>::SharedPtr publisher)
inline virtual ~RclcppPublisherWrapper()
inline RclcppPublisherWrapper &operator=(const typename rclcpp::Publisher<MessageT>::SharedPtr pub)
inline virtual void publish(const MessageT &msg)
inline virtual void publish(rclcpp::LoanedMessage<MessageT, AllocatorT> &&loaned_msg)
inline virtual rclcpp::LoanedMessage<MessageT, AllocatorT> borrow_loaned_message()
inline virtual bool can_loan_messages() const
inline virtual const char *get_topic_name() const

Protected Attributes

rclcpp::Publisher<MessageT, AllocatorT>::SharedPtr publisher_