realtime_tools::RealtimePublisher< MessageT > Class Template Reference

Public Types
using	PublisherType = rclcpp::Publisher< MessageT >
	Provide various typedefs to resemble the rclcpp::Publisher type.
using	PublisherSharedPtr = typename rclcpp::Publisher< MessageT >::SharedPtr
using	PublishedType = typename rclcpp::TypeAdapter< MessageT >::custom_type
using	ROSMessageType = typename rclcpp::TypeAdapter< MessageT >::ros_message_type

Public Member Functions
	RealtimePublisher (PublisherSharedPtr publisher)
	Constructor for the realtime publisher.
	~RealtimePublisher ()
	Destructor.
void	stop ()
	Stop the realtime publisher.
bool	trylock ()
	Try to acquire the data lock for non-realtime message publishing.
bool	can_publish () const
	Check if the realtime publisher is in a state to publish messages.
bool	try_publish (const MessageT &msg)
	Try to publish the given message.
bool	tryPublish (const MessageT &msg)
	Try to publish the given message (deprecated)
void	unlockAndPublish ()
	Unlock the msg_ variable for the non-realtime thread to start publishing.
void	lock ()
	Acquire the data lock.
void	unlock ()
	Unlocks the data without publishing anything.
std::thread &	get_thread ()
	Get the thread object for the publishing thread.
const std::thread &	get_thread () const
	Get the thread object for the publishing thread.
const MessageT &	get_msg () const
std::mutex &	get_mutex ()
	Get the mutex protecting the stored message.
const std::mutex &	get_mutex () const
	Get the mutex protecting the stored message.

Public Attributes
MessageT	msg_

Constructor & Destructor Documentation

RealtimePublisher()

template<class MessageT >

realtime_tools::RealtimePublisher< MessageT >::RealtimePublisher ( PublisherSharedPtr  publisher )

inlineexplicit

Constructor for the realtime publisher.

Starts a dedicated thread for message publishing. The publishing thread runs the publishingLoop() function to handle message delivery in a non-realtime context.

Parameters

publisher

the ROS publisher to wrap

Member Function Documentation

can_publish()

template<class MessageT >

bool realtime_tools::RealtimePublisher< MessageT >::can_publish ( ) const

inline

Check if the realtime publisher is in a state to publish messages.

Returns

true if the publisher is in a state to publish messages

get_thread() [1/2]

template<class MessageT >

std::thread & realtime_tools::RealtimePublisher< MessageT >::get_thread ( )

inline

Get the thread object for the publishing thread.

This can be used to set thread properties.

get_thread() [2/2]

template<class MessageT >

const std::thread & realtime_tools::RealtimePublisher< MessageT >::get_thread ( ) const

inline

Get the thread object for the publishing thread.

This can be used to set thread properties.

lock()

template<class MessageT >

void realtime_tools::RealtimePublisher< MessageT >::lock ( )

inline

Acquire the data lock.

This blocking call acquires exclusive access to the msg_ variable. Use trylock() for non-blocking attempts to acquire the lock.

stop()

template<class MessageT >

void realtime_tools::RealtimePublisher< MessageT >::stop ( )

inline

Stop the realtime publisher.

Signals the publishing thread to exit by setting keep_running_ to false and notifying the condition variable. This allows the publishing loop to break out of its wait state and exit cleanly.

try_publish()

template<class MessageT >

bool realtime_tools::RealtimePublisher< MessageT >::try_publish ( const MessageT &  msg )

inline

Try to publish the given message.

This method attempts to publish the given message if the publisher is in a state to do so. It uses a try_lock to avoid blocking if the mutex is already held by another thread.

Parameters

[in]

msg

The message to publish

Returns

true if the message was successfully published, false otherwise

trylock()

template<class MessageT >

bool realtime_tools::RealtimePublisher< MessageT >::trylock ( )

inline

Try to acquire the data lock for non-realtime message publishing.

It first checks if the current state allows non-realtime message publishing (turn_ == REALTIME) and then attempts to lock

Returns

true if the lock was successfully acquired, false otherwise

tryPublish()

template<class MessageT >

bool realtime_tools::RealtimePublisher< MessageT >::tryPublish ( const MessageT &  msg )

inline

Try to publish the given message (deprecated)

Deprecated:

This method is deprecated and should be replaced with try_publish()

This method is deprecated and should be replaced with try_publish(). It attempts to publish the given message if the publisher is in a state to do so. It uses a try_lock to avoid blocking if the mutex is already held by another thread.

Parameters

[in]

msg

The message to publish

Returns

true if the message was successfully published, false otherwise

unlockAndPublish()

template<class MessageT >

void realtime_tools::RealtimePublisher< MessageT >::unlockAndPublish ( )

inline

Unlock the msg_ variable for the non-realtime thread to start publishing.

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:

• realtime_tools/realtime_tools/include/realtime_tools/realtime_publisher.hpp