Struct r2r::Publisher

pub struct Publisher<T>
where
    T: WrappedTypesupport,
{ /* private fields */ }

A ROS (typed) publisher.

This contains a Weak Arc to a typed publisher. As such it is safe to move between threads.

Implementations

impl<T> Publisher<T>

where T: WrappedTypesupport + 'static,

pub fn publish(&self, msg: &T) -> Result<()>

where T: WrappedTypesupport,

Publish a ROS message.

pub fn borrow_loaned_message(&self) -> Result<WrappedNativeMsg<T>>

where T: WrappedTypesupport,

pub fn publish_native(&self, msg: &mut WrappedNativeMsg<T>) -> Result<()>

where T: WrappedTypesupport,

Publish a “native” ROS message.

This function is useful if you want to bypass the generated rust types as it lets you work with the raw C struct.

pub fn get_inter_process_subscription_count(&self) -> Result<usize>

Gets the number of external subscribers (i.e. it doesn’t count subscribers from the same process).

pub fn wait_for_inter_process_subscribers( &self, ) -> Result<impl Future<Output = Result<()>>>

Waits for at least one external subscriber to begin subscribing to the topic. It doesn’t count subscribers from the same process.

Trait Implementations

impl<T> Clone for Publisher<T>

where T: WrappedTypesupport + Clone,

fn clone(&self) -> Publisher<T>

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl<T> Debug for Publisher<T>

where T: WrappedTypesupport + Debug,

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl<T> Send for Publisher<T>

where T: WrappedTypesupport,