generic_publisher.h

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// Copyright 2018, Bosch Software Innovations GmbH.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef GENERIC_PUBLISHER_H
#define GENERIC_PUBLISHER_H
 
#include <memory>
#include <string>
#include <rclcpp/rclcpp.hpp>
#include <rclcpp/publisher_base.hpp>
 
class GenericPublisher : public rclcpp::PublisherBase
{
public:
  GenericPublisher(rclcpp::node_interfaces::NodeBaseInterface* node_base,
                   const std::string& topic_name,
                   const rosidl_message_type_support_t& type_support)
#ifdef ROS_HUMBLE
  : rclcpp::PublisherBase(node_base, topic_name, type_support, rcl_publisher_get_default_options())
#else
  : rclcpp::PublisherBase(node_base, topic_name, type_support, rcl_publisher_get_default_options(), callbacks_, true)
#endif
  {}
 
  virtual ~GenericPublisher() = default;
 
  void publish(std::shared_ptr<rmw_serialized_message_t> message)
  {
    auto return_code = rcl_publish_serialized_message(get_publisher_handle().get(), message.get(), NULL);
 
    if (return_code != RCL_RET_OK)
    {
      rclcpp::exceptions::throw_from_rcl_error(return_code, "failed to publish serialized message");
    }
  }
 
  static std::shared_ptr<GenericPublisher> create(rclcpp::Node& node,
                                                  const std::string& topic_name,
                                                  const std::string& topic_type)
  {
  
   auto library = std::move(rosbag2_cpp::get_typesupport_library(topic_type, "rosidl_typesupport_cpp"));
   auto type_support = rosbag2_cpp::get_typesupport_handle(topic_type, "rosidl_typesupport_cpp", library);
 
 
    return std::make_shared<GenericPublisher>(node.get_node_base_interface().get(), topic_name, *type_support);
  }
 
  #ifndef ROS_HUMBLE
  rclcpp::PublisherEventCallbacks callbacks_;
  #endif
};
 
#endif  // GENERIC_PUBLISHER_H