Ros2PublisherImpl

Fully qualified name: isaacsim::ros2::bridge::Ros2PublisherImpl

class Ros2PublisherImpl : public isaacsim::ros2::bridge::Ros2Publisher

Implementation of ROS 2 Publisher.

Manages a ROS 2 publisher instance, providing functionality for publishing messages and monitoring subscriber count.

Public Functions

Ros2PublisherImpl(

Ros2NodeHandle *nodeHandle,

const char *topicName,

const void *typeSupport,

const Ros2QoSProfile &qos,

)

Constructor for ROS 2 Publisher implementation.

Parameters:

• nodeHandle – [in] Pointer to the ROS 2 node handle.

• topicName – [in] Name of the topic to publish on.

• typeSupport – [in] Type support handle for the message type.

• qos – [in] Quality of Service settings for the publisher.

virtual ~Ros2PublisherImpl()

virtual void publish(const void *msg)

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()).

virtual size_t getSubscriptionCount()

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.

inline virtual bool isValid()

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.