publisher.h
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29 #ifndef SWRI_ROSCPP_PUBLISHER_H_
30 #define SWRI_ROSCPP_PUBLISHER_H_
31 
32 #include <ros/node_handle.h>
33 
34 namespace swri
35 {
36 template<typename M>
38  ros::NodeHandle &nh,
39  const std::string name,
40  uint32_t queue_size,
41  bool latched=false)
42 {
43  const std::string resolved_name = nh.resolveName(name);
44  ROS_INFO("Publishing [%s] to '%s'.",
45  name.c_str(),
46  resolved_name.c_str());
47  return nh.advertise<M>(name, queue_size, latched);
48 }
49 } // namespace swri
50 #endif // SWRI_ROSCPP_PUBLISHER_H_
#define ROS_INFO(...)
ros::Publisher advertise(swri::NodeHandle &nh, const std::string name, uint32_t queue_size, bool latched, const std::string description)
Definition: node_handle.h:1223
std::string resolveName(const std::string &name, bool remap=true) const
Publisher advertise(const std::string &topic, uint32_t queue_size, bool latch=false)


swri_roscpp
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autogenerated on Sat Jan 21 2023 03:13:16