def assert_liveliness(self) -> None:
"""
Manually assert that this Publisher is alive.
If the QoS Liveliness policy is set to RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC, the
application must call this at least as often as ``QoSProfile.liveliness_lease_duration``.
"""
_rclpy.rclpy_assert_liveliness(self.publisher_handle)
def assert_liveliness(self) -> None:
"""
Manually assert that this Publisher is alive.
If the QoS Liveliness policy is set to MANUAL_BY_TOPIC, the
application must call this at least as often as ``QoSProfile.liveliness_lease_duration``.
"""
with self.handle:
_rclpy.rclpy_assert_liveliness(self.handle)
