Class JRosClientPublisher<T extends id.jrosmessages.Message>
java.lang.Object
edu.tufts.hrilab.ros2.ros2jrosclient.JRosClientPublisher<T>
- Type Parameters:
T
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- 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:
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Field Summary
Fields -
Constructor Summary
ConstructorsConstructorDescriptionJRosClientPublisher
(Class<T> messageType, String topic) JRosClientPublisher
(Class<T> messageType, String topic, T message) -
Method Summary
Modifier and TypeMethodDescriptionvoid
publish()
Body of the publisher that is submitted every iteration.
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Field Details
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log
protected static org.slf4j.Logger log -
publisher
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Constructor Details
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JRosClientPublisher
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JRosClientPublisher
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Method Details
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publish
public void publish()Description copied from interface:Ros2Publisher
Body of the publisher that is submitted every iteration.- Specified by:
publish
in interfaceRos2Publisher<T extends id.jrosmessages.Message>
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getMessage
- Specified by:
getMessage
in interfaceRos2Publisher<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.
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