nros::Publisher< M > Class Template Reference

#include <publisher.hpp>

Classes
class	Loan

Public Member Functions
Result	assert_liveliness ()
const char *	get_topic_name () const
	Get the topic name.
bool	is_valid () const
	Check if the publisher is initialized and valid.
Expected< Loan >	loan (size_t requested_len)
Result	on_liveliness_lost (nros_cpp_publisher_count_cb_t cb, void *user_context=nullptr)
	Register a callback for liveliness-lost events on this publisher.
Result	on_offered_deadline_missed (uint32_t deadline_ms, nros_cpp_publisher_count_cb_t cb, void *user_context=nullptr)
Publisher &	operator= (Publisher &&other)
Result	publish (const M &msg)
Result	publish_raw (const uint8_t *data, size_t len)
	Publish raw CDR bytes.
template<typename W >
Result	publish_streamed (size_t total_len, W &&writer)
	Publisher ()
	Publisher (Publisher &&other)
	~Publisher ()
	Destructor — releases publisher resources.

Friends
class	Node

Detailed Description

template<typename M>
class nros::Publisher< M >

Typed publisher for a ROS 2 topic.

Mirrors rclcpp::Publisher<M>. The message type M must provide TYPE_NAME, TYPE_HASH, and ffi_publish() (generated by codegen).

Raw CDR publishing is always available via publish_raw().

Inline storage holds the runtime publisher handle directly (NROS_PUBLISHER_SIZE bytes; size auto-derived from the runtime). Topic name metadata lives C++-side in topic_name_, avoiding a runtime hop for get_topic_name().

Usage:

nros::Publisher<std_msgs::msg::String> pub;
NROS_TRY(node.create_publisher(pub, "/chatter"));
pub.publish_raw(cdr_data, cdr_len);

Constructor & Destructor Documentation

~Publisher()

template<typename M >

nros::Publisher< M >::~Publisher ( )

inline

Destructor — releases publisher resources.

Publisher() [1/2]

template<typename M >

nros::Publisher< M >::Publisher ( Publisher< M > &&  other )

inline

Publisher() [2/2]

template<typename M >

nros::Publisher< M >::Publisher ( )

inline

Default constructor — creates an uninitialized publisher. Use Node::create_publisher() to initialize.

Member Function Documentation

assert_liveliness()

template<typename M >

Result nros::Publisher< M >::assert_liveliness ( )

inline

Phase 108.B.7 — manually assert liveliness. Required for publishers configured with LivelinessManualByTopic / ManualByNode; no-op for Automatic / None.

get_topic_name()

template<typename M >

const char * nros::Publisher< M >::get_topic_name ( ) const

inline

Get the topic name.

is_valid()

template<typename M >

bool nros::Publisher< M >::is_valid ( ) const

inline

Check if the publisher is initialized and valid.

loan()

template<typename M >

Expected< Loan > nros::Publisher< M >::loan ( size_t  requested_len )

inline

Loan a writable slot of at least requested_len bytes. The returned Loan is RAII: call commit(actual_len) to send, discard() to abandon, or let it drop (auto-discard).

on_liveliness_lost()

template<typename M >

Result nros::Publisher< M >::on_liveliness_lost ( nros_cpp_publisher_count_cb_t  cb, void *  user_context = nullptr  )

inline

Register a callback for liveliness-lost events on this publisher.

on_offered_deadline_missed()

template<typename M >

Result nros::Publisher< M >::on_offered_deadline_missed ( uint32_t  deadline_ms, nros_cpp_publisher_count_cb_t  cb, void *  user_context = nullptr  )

inline

Register a callback for offered-deadline-missed events on this publisher.

operator=()

template<typename M >

Publisher & nros::Publisher< M >::operator= ( Publisher< M > &&  other )

inline

publish()

template<typename M >

Result nros::Publisher< M >::publish ( const M &  msg )

inline

Publish a typed message.

Calls the codegen-generated M::ffi_publish() which serializes the message to CDR and publishes it.

publish_raw()

template<typename M >

Result nros::Publisher< M >::publish_raw ( const uint8_t *  data, size_t  len  )

inline

Publish raw CDR bytes.

publish_streamed()

template<typename M >

template<typename W >

Result nros::Publisher< M >::publish_streamed ( size_t  total_len, W &&  writer  )

inline

Phase 124.E.1 — streamed publish.

total_len declares the full payload size; writer is invoked one or more times with a writable chunk and must return the bytes written. The runtime/backend allocates total_len bytes (in the outbound buffer when the backend natively streams, otherwise in a stack staging buffer capped at ~4 KiB) and drains the closure until full.

writer signature: size_t(uint8_t* chunk, size_t cap).

Friends And Related Symbol Documentation

Node

template<typename M >

friend class Node

friend

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The documentation for this class was generated from the following files:

• include/nros/node.hpp
• include/nros/publisher.hpp