Public Member Functions
	DesertPublisher (std::string topic_name, const rosidl_message_type_support_t *type_supports, rmw_gid_t gid)
	Create a publisher.

void	push (const void *msg)
	Send a publication on the topic.

rmw_gid_t	get_gid ()
	Retreive the gid of the current entity.

std::string	get_topic_name ()
	Retreive the topic name of the current entity.

std::string	get_type_name ()
	Retreive the message type of the current entity.

Constructor & Destructor Documentation

◆ DesertPublisher()

DesertPublisher::DesertPublisher	(	std::string	topic_name,
		const rosidl_message_type_support_t *	type_supports,
		rmw_gid_t	gid
	)

Create a publisher.

Parameters

topic_name	Name of the topic used to push the messages
type_supports	Pointer to the message data structure coming from the ROS upper layers
gid	Global identifier of the entity

Member Function Documentation

◆ get_gid()

rmw_gid_t DesertPublisher::get_gid ( )

Retreive the gid of the current entity.

This function returns the global identifier of the current entity in the rmw format.

Returns: Global identifier of the entity

◆ get_topic_name()

std::string DesertPublisher::get_topic_name ( )

Retreive the topic name of the current entity.

This function returns a string containing the topic name of the current entity.

Returns: Name of the topic

◆ get_type_name()

std::string DesertPublisher::get_type_name ( )

Retreive the message type of the current entity.

This function returns a string containing the message type name of the current entity.

Returns: Type of the message

◆ push()

void DesertPublisher::push ( const void * msg )

Send a publication on the topic.

The push function starts a transmission with the topic name in the current instance and then serializes the message using the method from the MessageSerialization namespace. A discrimination is made between C members and C++ members based on the type support.