Class CompoundPublisher

• Defined in File compound_publisher.hpp

Class Documentation

class CompoundPublisher

A compound publisher for the driver’s topics.

This class encapsulates all necessary publishers to keep the driver’s lifecycle management nice and clear.

Public Functions

CompoundPublisher(rclcpp_lifecycle::LifecycleNode *node)

CompoundPublisher() = delete

CompoundPublisher &operator=(CompoundPublisher&&) = delete

CompoundPublisher(const CompoundPublisher &other) = delete

CompoundPublisher(CompoundPublisher&&) = delete

CompoundPublisher &operator=(const CompoundPublisher&) = delete

void publish(const std_msgs::msg::Header &header, visionary::SafeVisionaryData &frame_data)

Publish once with all registered publishers.

Parameters:

• header – Header for this data

• frame_data – The sensor’s data to publish

void activate()

Call this function in the lifecycle node’s on_activate.

void deactivate()

Call this function in the lifecycle node’s on_deactivate.

void reset()

Reset all publishers.

This destroys all registered publishers such that their topics are no longer advertised. Call this function in the lifecycle node’s on_cleanup and on_shutdown. It’s save to call this function multiple times.