Class ROS2PublisherSink

Defined in File ros2_publisher_sink.hpp

Inheritance Relationships

Base Type

public DataTamer::DataSinkBase (Class DataSinkBase)

Class Documentation

class ROS2PublisherSink : public DataTamer::DataSinkBase 

Public Functions

ROS2PublisherSink(std::shared_ptr<rclcpp::Node> node, const std::string &topic_prefix)

ROS2PublisherSink(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> node, const std::string &topic_prefix)

template<typename NodeT> inline void create_publishers(NodeT &node, const std::string &topic_prefix)

virtual void addChannel(const std::string &name, const Schema &schema) override

addChannel will register a schema into the sink. That schema will be recognized by its hash.

Parameters:

name – name of the channel
schema – a schema, suaully obtained from LogChannel::getSchema()

virtual bool storeSnapshot(const Snapshot &snapshot) override

storeSnapshot contains the code to execute when popping a snapshot from the queue.

Parameters:: snapshot – data to be pushed into the sink.
Returns:: true if processed successfully