rclpy.lifecycle.publisher module

class rclpy.lifecycle.publisher.LifecyclePublisher(*args: Unpack[LifecyclePublisherArgs[MsgT]], **kwargs: Unpack[LifecyclePublisherKWArgs[MsgT]])

Bases: SimpleManagedEntity, Publisher[MsgT]

Managed publisher entity.

publish(msg: MsgT | bytes) None

Publish a message if the lifecycle publisher is enabled.

See rclpy.publisher.Publisher.publish() for more details.