rosrt::Publisher< M > Class Template Reference

a realtime-safe ROS publisher More...

#include <publisher.h>

List of all members.

Public Member Functions
boost::shared_ptr< M >	allocate ()
	Allocate a message. The message will have been constructed with the template provided to initialize()
const ros::Publisher &	getPublisher ()
	Returns the ros::Publisher object in use.
void	initialize (const ros::Publisher &pub, uint32_t message_pool_size, const M &tmpl)
	initialization function. Only use with the default constructor
void	initialize (ros::NodeHandle &nh, const std::string &topic, uint32_t ros_publisher_queue_size, uint32_t message_pool_size, const M &tmpl)
	Constructor with initialization, simple version.
bool	publish (const MConstPtr &msg)
	Publish a message.
	Publisher ()
	Default constructor. You must call initialize() before you use this publisher for anything else.
	Publisher (const ros::Publisher &pub, uint32_t message_pool_size, const M &tmpl)
	Constructor with initialization.
	Publisher (ros::NodeHandle &nh, const std::string &topic, uint32_t ros_publisher_queue_size, uint32_t message_pool_size, const M &tmpl)
	Constructor with initialization, simple version.
	~Publisher ()
Private Types
typedef boost::shared_ptr< M const >	MConstPtr
Private Attributes
lockfree::ObjectPool< M > *	pool_
ros::Publisher	pub_

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Detailed Description

template<typename M>
class rosrt::Publisher< M >

a realtime-safe ROS publisher

Definition at line 83 of file publisher.h.

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Member Typedef Documentation

template<typename M>

typedef boost::shared_ptr<M const> rosrt::Publisher< M >::MConstPtr [private]

Definition at line 85 of file publisher.h.

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Constructor & Destructor Documentation

template<typename M>

rosrt::Publisher< M >::Publisher

(

)

[inline]

Default constructor. You must call initialize() before you use this publisher for anything else.

Definition at line 92 of file publisher.h.

template<typename M>

rosrt::Publisher< M >::Publisher	(	const ros::Publisher< M > &	pub,
		uint32_t	message_pool_size,
		const M &	tmpl
	)		[inline]

Constructor with initialization.

Parameters:

pub	A ros::Publisher to use to actually publish any messages
message_pool_size	The size of the message pool to provide
tmpl	A template object to intialize all the messages in the message pool with

Definition at line 103 of file publisher.h.

template<typename M>

rosrt::Publisher< M >::Publisher	(	ros::NodeHandle &	nh,
		const std::string &	topic,
		uint32_t	ros_publisher_queue_size,
		uint32_t	message_pool_size,
		const M &	tmpl
	)		[inline]

Constructor with initialization, simple version.

Parameters:

nh	The NodeHandle to act on
topic	The topic to publish on
ros_publisher_queue_size	The queue size to pass to NodeHandle::advertise()
message_pool_size	The size of the message pool to provide
tmpl	A template object to intialize all the messages in the message pool with

Definition at line 116 of file publisher.h.

template<typename M>

rosrt::Publisher< M >::~Publisher

(

)

[inline]

Definition at line 121 of file publisher.h.

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Member Function Documentation

template<typename M>

boost::shared_ptr<M> rosrt::Publisher< M >::allocate

(

)

[inline]

Allocate a message. The message will have been constructed with the template provided to initialize()

Definition at line 165 of file publisher.h.

template<typename M>

const ros::Publisher& rosrt::Publisher< M >::getPublisher

(

)

[inline]

Returns the ros::Publisher object in use.

Definition at line 174 of file publisher.h.

template<typename M>

void rosrt::Publisher< M >::initialize	(	const ros::Publisher< M > &	pub,
		uint32_t	message_pool_size,
		const M &	tmpl
	)		[inline]

initialization function. Only use with the default constructor

Parameters:

pub	A ros::Publisher to use to actually publish any messages
message_pool_size	The size of the message pool to provide
tmpl	A template object to intialize all the messages in the message pool with

Definition at line 133 of file publisher.h.

template<typename M>

void rosrt::Publisher< M >::initialize	(	ros::NodeHandle &	nh,
		const std::string &	topic,
		uint32_t	ros_publisher_queue_size,
		uint32_t	message_pool_size,
		const M &	tmpl
	)		[inline]

Constructor with initialization, simple version.

Parameters:

nh	The NodeHandle to act on
topic	The topic to publish on
ros_publisher_queue_size	The queue size to pass to NodeHandle::advertise()
message_pool_size	The size of the message pool to provide
tmpl	A template object to intialize all the messages in the message pool with

Definition at line 148 of file publisher.h.

template<typename M>

bool rosrt::Publisher< M >::publish

(

const MConstPtr &

msg

)

[inline]

Publish a message.

Definition at line 156 of file publisher.h.

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Member Data Documentation

template<typename M>

lockfree::ObjectPool<M>* rosrt::Publisher< M >::pool_ [private]

Definition at line 178 of file publisher.h.

template<typename M>

ros::Publisher rosrt::Publisher< M >::pub_ [private]

Definition at line 177 of file publisher.h.

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The documentation for this class was generated from the following file:

• publisher.h