realtime_tools::RealtimePublisher< Msg > Class Template Reference

Public Member Functions
	RealtimePublisher (PublisherSharedPtr publisher)
	Constructor for the realtime publisher. More...
	~RealtimePublisher ()
	Destructor.
void	stop ()
	Stop the realtime publisher from sending out more ROS messages.
bool	trylock ()
	Try to get the data lock from realtime. More...
void	unlockAndPublish ()
	Unlock the msg_ variable. More...
void	lock ()
	Get the data lock form non-realtime. More...
void	unlock ()
	Unlocks the data without publishing anything.

Public Attributes
Msg	msg_
	The msg_ variable contains the data that will get published on the ROS topic.

Constructor & Destructor Documentation

RealtimePublisher()

template<class Msg >

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

inlineexplicit

Constructor for the realtime publisher.

Parameters

publisher

the publisher to wrap

Member Function Documentation

lock()

template<class Msg >

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

inline

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()

template<class Msg >

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

inline

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()

template<class Msg >

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

inline

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.

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

• realtime_tools/include/realtime_tools/realtime_publisher.h