Struct rclrust::Publisher

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

Publisher

Implementations

impl<T> Publisher<T> where
    T: MessageT, 

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

Publish a message.

Examples

use rclrust_msg::std_msgs::msg::Int32;

let publisher = node.create_publisher::<Int32>("message", &QoSProfile::default())?;
publisher.publish(&Int32 { data: 42 })?;

pub fn topic_name(&self) -> Option<String>

Get the topic name which this publisher publishes on.

Examples

let publisher = node.create_publisher::<Int32>("message", &QoSProfile::default())?;
assert_eq!(&publisher.topic_name().unwrap(), "/message");

pub fn is_valid(&self) -> bool

Check if this publisher is valid or not. Normally, a return value should be true.

Examples

let publisher = node.create_publisher::<Int32>("message", &QoSProfile::default())?;
assert!(publisher.is_valid());

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

Get how many subscriber are subscribing the topic which this publisher publishes on.

Examples

let publisher = node.create_publisher::<Int32>("message", &QoSProfile::default())?;
println!("{}", publisher.subscription_count()?);

pub fn actual_qos(&self) -> Option<QoSProfile>

Get the actual QoS settings, after the defaults have been determined.

Examples

let publisher = node.create_publisher::<Int32>("message", &QoSProfile::default())?;
println!("{:?}", publisher.actual_qos().unwrap());