Ros2Publisher#
Fully qualified name: isaacsim::ros2::bridge::Ros2Publisher
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class Ros2Publisher#
Base class for ROS 2 publishers.
Provides the interface for publishing messages to ROS 2 topics. Publishers are used to send data from the application to other ROS 2 nodes.
Subclassed by isaacsim::ros2::bridge::Ros2PublisherImpl
Public Functions
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virtual void publish(const void *msg) = 0#
Sends a message to the topic.
Publishes the provided message to the associated ROS 2 topic.
- Parameters:
msg – [in] Pointer to the message to publish.
- Pre:
The message must be of the correct type for this publisher.
- Pre:
The publisher must be valid (check with isValid()).
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virtual size_t getSubscriptionCount() = 0#
Gets the number of existing subscriptions to the publisher topic.
Queries the ROS 2 middleware to determine how many subscribers are currently connected to this publisher’s topic.
Note
This count may change as nodes join or leave the ROS 2 network.
- Returns:
Number of active subscriptions.
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virtual bool isValid() = 0#
Checks whether the publisher is valid.
Verifies if the object holds a properly initialized ROS 2 publisher instance.
Note
A publisher may become invalid if its associated node or context is destroyed.
- Returns:
True if the publisher is valid, false otherwise.
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virtual void publish(const void *msg) = 0#