Package edu.tufts.hrilab.ros2.ros2jrosclient

Class JRosClientPublisher<T extends id.jrosmessages.Message>

java.lang.Object

edu.tufts.hrilab.ros2.ros2jrosclient.JRosClientPublisher<T>

Type Parameters:

T - message type

All Implemented Interfaces:

Ros2Publisher<T>

public class JRosClientPublisher<T extends id.jrosmessages.Message>
extends Object
implements Ros2Publisher<T>

Wrapper on JROSClient's TopicSubmissionPublisher. Both for convenience and interactions with the BaseNode class. May eventually be extracted to an interface for different ros2 java implementations.

See Also:

• JRosClientNode

Field Summary

Fields

Modifier and Type	Field	Description
protected static org.slf4j.Logger	log
id.jrosclient.TopicSubmissionPublisher<T>	publisher

Constructor Summary

Constructors

Constructor	Description
JRosClientPublisher(Class<T> messageType, String topic)
JRosClientPublisher(Class<T> messageType, String topic, T message)

Method Summary

Modifier and Type	Method	Description
T	getMessage()
void	publish()	Body of the publisher that is submitted every iteration.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

log

protected static org.slf4j.Logger log

publisher

public id.jrosclient.TopicSubmissionPublisher<T extends id.jrosmessages.Message> publisher

Constructor Details

JRosClientPublisher

public JRosClientPublisher(Class<T> messageType,
 String topic)

JRosClientPublisher

public JRosClientPublisher(Class<T> messageType,
 String topic,
 T message)

Method Details

publish

public void publish()

Description copied from interface: Ros2Publisher

Body of the publisher that is submitted every iteration.

Specified by:

publish in interface Ros2Publisher<T extends id.jrosmessages.Message>

getMessage

public T getMessage()

Specified by:

getMessage in interface Ros2Publisher<T extends id.jrosmessages.Message>

Returns:

Returns the message object internal to this publisher. This object is mutable, and can be altered to change the published message.