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. 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...
bool	tryPublish (const MessageT &msg)
	Try to get the data lock from realtime and publish the given message. 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.
std::thread &	get_thread ()
const std::thread &	get_thread () const

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

Constructor & Destructor Documentation

RealtimePublisher()

template<class MessageT >

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

inlineexplicit

Constructor for the realtime publisher.

Parameters

publisher

the publisher to wrap

Member Function Documentation

lock()

template<class MessageT >

void realtime_tools::RealtimePublisher< MessageT >::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 MessageT >

bool realtime_tools::RealtimePublisher< MessageT >::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.

tryPublish()

template<class MessageT >

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

inline

Try to get the data lock from realtime and publish the given message.

Tries to gain unique access to msg_ variable. If this succeeds update the msg_ variable and call unlockAndPublish

Returns

false in case no lock for the realtime variable could be acquired

unlockAndPublish()

template<class MessageT >

void realtime_tools::RealtimePublisher< MessageT >::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.hpp