Source code for rqt_ez_publisher.publisher.topic_publisher
import rospy
[docs]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
[docs] def get_topic_name(self):
return self._name
[docs] def publish(self):
self._publisher.publish(self._message)
[docs] def get_message(self):
return self._message