Class TwistPublisher

• Defined in File twist_publisher.hpp

Class Documentation

class TwistPublisher

Public Functions

inline explicit TwistPublisher(const rclcpp::Node::SharedPtr &node, const std::string &topic, const rclcpp::QoS &qos)

A constructor.

Parameters:

• nh – The node

• topic – publisher topic name

• qos – publisher quality of service

inline void publish(std::unique_ptr<geometry_msgs::msg::TwistStamped> velocity)

inline size_t get_subscription_count() const

Protected Attributes

std::string topic_

bool is_stamped_ = {false}

rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr twist_pub_

rclcpp::Publisher<geometry_msgs::msg::TwistStamped>::SharedPtr twist_stamped_pub_