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.