Template Struct SubscriptionOptionsWithAllocator

Inheritance Relationships

Base Type

Struct Documentation

template<typename Allocator>
struct SubscriptionOptionsWithAllocator : public rclcpp::SubscriptionOptionsBase

Structure containing optional configuration for Subscriptions.

Public Functions

inline SubscriptionOptionsWithAllocator()
inline explicit SubscriptionOptionsWithAllocator(const SubscriptionOptionsBase &subscription_options_base)

Constructor using base class as input.

template<typename MessageT>
inline rcl_subscription_options_t to_rcl_subscription_options(const rclcpp::QoS &qos) const

Convert this class, with a rclcpp::QoS, into an rcl_subscription_options_t.

Parameters:

qosQoS profile for subcription.

Returns:

rcl_subscription_options_t structure based on the rclcpp::QoS

inline std::shared_ptr<Allocator> get_allocator() const

Public Members

std::shared_ptr<Allocator> allocator = nullptr

Optional custom allocator.