Struct OutputTopicConfig

Defined in File priority_mux_base.h

Struct Documentation

struct OutputTopicConfig

Configuration of an output topic for the mux.

Public Members

::std::string topic: The output topic.

::cras::optional<bool> forceLatch: If set, forces the topic’s latching status to the value. Otherwise, latching is configured based on latching of the first received message.

::ros::WallDuration subscriberConnectDelay: Time to wait before publishing the first message after the publisher is created. Only applies to non-latched topics.

size_t numSubscribersToWait = {0u}: If non-zero, when the publisher is created, it will wait until it has this number of subscribers before it publishes its first message. This is more reliable than setting the delay if you know the number of subscribers. The number is not the actual number of subscriber objects, but rather the number of subscribing separate nodes (so e.g. all subscriptions from a single nodelet manager count as one).

size_t queueSize: Queue size for the publisher.