Class Publisher

Constructor

Parameters:

• name (str) - resource name of topic, e.g. 'laser'.
• data_class (Message class) - message class for serialization
• subscriber_listener (SubscribeListener) - listener for subscription events. May be None.
• tcp_nodelay (bool) - If True, sets TCP_NODELAY on publisher's socket (disables Nagle algorithm). This results in lower latency publishing at the cost of efficiency.
• latch (bool) - If True, the last message published is 'latched', meaning that any future subscribers will be sent that message immediately upon connection.
• headers (dict) - If not None, a dictionary with additional header key-values being used for future connections.
• queue_size (int) - The queue size used for asynchronously publishing messages from different threads. A size of zero means an infinite queue, which can be dangerous. When the keyword is not being used or when None is passed all publishing will happen synchronously and a warning message will be printed.

Raises:

• ROSException - if parameters are invalid

Overrides: object.__init__

Publish message data object to this topic. Publish can either be called with the message instance to publish or with the constructor args for a new Message instance, i.e.:

 pub.publish(message_instance)
 pub.publish(message_field_1, message_field_2...)            
 pub.publish(message_field_1='foo', message_field_2='bar')

Parameters:

• args - Message instance, message arguments, or no args if keyword arguments are used
• kwds - Message keyword arguments. If kwds are used, args must be unset

Raises:

• ROSException - If rospy node has not been initialized
• ROSSerializationException - If unable to serialize message. This is usually a type error with one of the fields.