pubsub

Typed publishers and subscriptions (rclcpp::Publisher<M>, rclcpp::Subscription<M>). More...

Files
file	publisher.hpp
	rclcpp::Publisher<M> — typed topic publisher.
file	subscription.hpp
	rclcpp::Subscription<M> — the typed DISPATCH subscriber: the arena owns it and the executor calls your handler.

Detailed Description

Typed publishers and subscriptions (rclcpp::Publisher<M>, rclcpp::Subscription<M>).

M is a generated message type — see The Message-Type Concept for the required surface. The publish method serialises and forwards via the codegen-emitted M::ffi_publish.

rclcpp::Publisher<std_msgs::msg::Int32> pub;
RCLCPP_TRY(node.create_publisher(pub, "/chatter"));
std_msgs::msg::Int32 m{}; m.data = 42;
pub.publish(m);

See also

executor, qos