Ros2Publisher#
Fully qualified name: isaacsim::ros2::bridge::Ros2Publisher
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class Ros2Publisher#
Base class for ROS 2 publishers.
Public Functions
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virtual void publish(const void *msg) = 0#
Send a message to the topic.
- Parameters:
msg – Message pointer.
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virtual size_t getSubscriptionCount() = 0#
Get the number of existing subscriptions to the publisher topic.
- Returns:
Number of subscriptions.
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virtual bool isValid() = 0#
Check whether the object holds a valid ROS 2 publisher instance.
- Returns:
Whether the object holds a valid ROS 2 publisher instance.
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virtual void publish(const void *msg) = 0#