Source code for rqt_ez_publisher.publisher.topic_publisher

import rospy


class TopicPublisher(object):

    def __init__(self, topic_name, message_class):
        self._name = topic_name
        try:
            self._publisher = rospy.Publisher(
                topic_name, message_class, queue_size=100)
            self._message = message_class()
        except ValueError as e:
            rospy.logfatal('msg file for %s not found' % topic_name)
            raise e

    def get_topic_name(self):
        return self._name

    def publish(self):
        self._publisher.publish(self._message)

    def get_message(self):
        return self._message