Template Class BasicPublisher

• Defined in File agnocast_publisher.hpp

Class Documentation

template<typename MessageT, typename BridgeRequestPolicy>
class BasicPublisher

Public Types

using SharedPtr = std::shared_ptr<BasicPublisher<MessageT, BridgeRequestPolicy>>

Public Functions

inline BasicPublisher(rclcpp::Node *node, const std::string &topic_name, const rclcpp::QoS &qos, const PublisherOptions &options, const bool is_bridge = false)

inline BasicPublisher(agnocast::Node *node, const std::string &topic_name, const rclcpp::QoS &qos, const PublisherOptions &options = PublisherOptions{})

inline ~BasicPublisher()

inline AGNOCAST_PUBLIC ipc_shared_ptr< MessageT > borrow_loaned_message ()

Allocate a new default-constructed message in shared memory. The caller must either pass the returned pointer to publish() or let it go out of scope (which frees the memory).

Returns:

Owned pointer to the newly allocated message in shared memory.

inline AGNOCAST_PUBLIC void publish (ipc_shared_ptr< MessageT > &&message)

Publish a message via zero-copy IPC. Ownership is transferred: after this call, the passed-in ipc_shared_ptr and all copies sharing its control block are invalidated — dereferencing them calls std::terminate().

Parameters:

message – Message obtained from borrow_loaned_message(). Must be moved in.

inline AGNOCAST_PUBLIC uint32_t get_subscription_count () const

Return the total subscriber count for this topic (Agnocast + ROS 2 via bridge).

Returns:

Total subscriber count.

inline AGNOCAST_PUBLIC const rmw_gid_t & get_gid () const

Return the GID of this publisher, unique across both Agnocast and ROS 2.

Returns:

Publisher GID.

inline AGNOCAST_PUBLIC uint32_t get_intra_subscription_count () const

Return the number of Agnocast intra-process subscribers only (excludes ROS 2).

Returns:

Agnocast subscriber count.

inline AGNOCAST_PUBLIC const char * get_topic_name () const

Return the fully-resolved topic name.

Returns:

Null-terminated topic name string.