publisher.h
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34 
35 #ifndef _ROS_PUBLISHER_H_
36 #define _ROS_PUBLISHER_H_
37 
38 #include "rosserial_msgs/TopicInfo.h"
39 #include "ros/node_handle.h"
40 
41 namespace ros
42 {
43 
44 /* Generic Publisher */
45 class Publisher
46 {
47 public:
48  Publisher(const char * topic_name, Msg * msg, int endpoint = rosserial_msgs::TopicInfo::ID_PUBLISHER) :
49  topic_(topic_name),
50  msg_(msg),
51  endpoint_(endpoint) {};
52 
53  int publish(const Msg * msg)
54  {
55  return nh_->publish(id_, msg);
56  };
57  int getEndpointType()
58  {
59  return endpoint_;
60  }
61 
62  const char * topic_;
63  Msg *msg_;
64  // id_ and no_ are set by NodeHandle when we advertise
65  int id_;
66  NodeHandleBase_* nh_;
67 
68 private:
69  int endpoint_;
70 };
71 
72 }
73 
74 #endif
void publish(const boost::shared_ptr< M > &message) const
virtual int publish(int id, const Msg *msg)=0


rosserial_client
Author(s): Michael Ferguson, Adam Stambler
autogenerated on Mon Jun 10 2019 14:53:19