Template Function rclcpp::create_generic_subscription

• Defined in File create_generic_subscription.hpp

Function Documentation

template<typename AllocatorT = std::allocator<void>>
std::shared_ptr<GenericSubscription> rclcpp::create_generic_subscription(rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr topics_interface, const std::string &topic_name, const std::string &topic_type, const rclcpp::QoS &qos, std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> &options = (rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()))

Create and return a GenericSubscription.

The returned pointer will never be empty, but this function can throw various exceptions, for instance when the message’s package can not be found on the AMENT_PREFIX_PATH.

Parameters:

• topics_interface – NodeTopicsInterface pointer used in parts of the setup.

• topic_name – Topic name

• topic_type – Topic type

• qos – QoS settings

• callback – Callback for new messages of serialized form

• options – Publisher options. Not all publisher options are currently respected, the only relevant options for this publisher are event_callbacks, use_default_callbacks, and callback_group.