nros_rmw_publisher_t Struct Reference

#include <rmw_entity.h>

Collaboration diagram for nros_rmw_publisher_t:

Data Fields
uint8_t	_reserved [7]
void *	backend_data
bool	can_loan_messages
nros_rmw_qos_t	qos
const char *	topic_name
const char *	type_name

Detailed Description

Publisher entity.

Created by vtable->create_publisher; destroyed by vtable->destroy_publisher. The runtime owns the storage; the runtime fills topic_name / type_name / qos before the create call. The backend writes can_loan_messages and backend_data.

can_loan_messages matches upstream rmw_publisher_t's field of the same name — true means the backend exposes the loan_publish / commit_publish primitive (Phase 99). The runtime reads it once at create time and picks the publish path accordingly; no per-call probe.

Field Documentation

_reserved

uint8_t nros_rmw_publisher_t::_reserved[7]

Reserved for future fields; must be zero.

backend_data

void* nros_rmw_publisher_t::backend_data

Opaque backend state. NULL if creation failed.

can_loan_messages

bool nros_rmw_publisher_t::can_loan_messages

Backend exposes loan_publish / commit_publish (Phase 99).

qos

nros_rmw_qos_t nros_rmw_publisher_t::qos

QoS subset honoured by this publisher.

topic_name

const char* nros_rmw_publisher_t::topic_name

Topic name (borrowed; outlives the publisher).

type_name

const char* nros_rmw_publisher_t::type_name

ROS-2-style fully-qualified type name (e.g., "std_msgs/msg/Int32"). Borrowed; outlives the publisher.

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The documentation for this struct was generated from the following file:

• include/nros/rmw_entity.h