3.2. MetaPublisher¶
-
std::shared_ptr<is::TopicPublisher>
eprosima::is::sh::ros1
::
make_meta_publisher
(const eprosima::xtypes::DynamicType &message_type, ros::NodeHandle &node, const std::string &topic_name, uint32_t queue_size, bool latch, const YAML::Node &configuration)¶ Produces a is::TopicPublisher that allows to use runtime substitution parameters in the YAML configuration file.
- See
- Return
A pointer to the created Integration Service TopicPublisher entity.
- Parameters
[in] message_type
: A reference to the dynamic type representation of the topic type.[in] node
: The ROS 1 node that will hold this publisher.[in] topic_name
: The topic name to publish to.[in] queue_size
: The maximum message queue size for the ROS 1 publisher.[in] latch
: Enable/disable latching. When a connection is latched, the last message published is saved and sent to any future subscribers that connect.[in] configuration
: The configuration specific for this SystemHandle, as described in the user-provided YAML input file.