Class ROS2PublisherSink

Inheritance Relationships

Base Type

Class Documentation

class ROS2PublisherSink : public DataTamer::DataSinkBase

Public Functions

ROS2PublisherSink(std::shared_ptr<rclcpp::Node> node, const std::string &topic_prefix)
ROS2PublisherSink(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> node, const std::string &topic_prefix)
template<typename NodeT>
inline void create_publishers(NodeT &node, const std::string &topic_prefix)
virtual void addChannel(const std::string &name, const Schema &schema) override

addChannel will register a schema into the sink. That schema will be recognized by its hash.

Parameters:
virtual bool storeSnapshot(const Snapshot &snapshot) override

storeSnapshot contains the code to execute when popping a snapshot from the queue.

Parameters:

snapshot – data to be pushed into the sink.

Returns:

true if processed successfully