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Msg | msg_ |
| The msg_ variable contains the data that will get published on the ROS topic.
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◆ RealtimePublisher()
Constructor for the realtime publisher.
- Parameters
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publisher | the publisher to wrap |
◆ lock()
Get the data lock form non-realtime.
To publish data from the realtime loop, you need to run trylock to attempt to get unique access to the msg_ variable. Trylock returns true if the lock was acquired, and false if it failed to get the lock.
◆ trylock()
Try to get the data lock from realtime.
To publish data from the realtime loop, you need to run trylock to attempt to get unique access to the msg_ variable. Trylock returns true if the lock was acquired, and false if it failed to get the lock.
◆ unlockAndPublish()
Unlock the msg_ variable.
After a successful trylock and after the data is written to the mgs_ variable, the lock has to be released for the message to get published on the specified topic.
The documentation for this class was generated from the following file: