def create_publisher(
self,
msg_type,
topic: str,
*,
qos_profile: QoSProfile = qos_profile_default) -> Publisher:
"""
Create a new publisher.
:param msg_type: The type of ROS messages the publisher will publish.
:param topic: The name of the topic the publisher will publish to.
:param qos_profile: The quality of service profile to apply to the publisher.
:return: The new publisher.
"""
# this line imports the typesupport for the message module if not already done
check_for_type_support(msg_type)
failed = False
try:
with self.handle as node_capsule:
publisher_capsule = _rclpy.rclpy_create_publisher(
node_capsule, msg_type, topic,
qos_profile.get_c_qos_profile())
except ValueError:
failed = True
if failed:
self._validate_topic_or_service_name(topic)
publisher_handle = Handle(publisher_capsule)
publisher_handle.requires(self.handle)
publisher = Publisher(publisher_handle, msg_type, topic, qos_profile)
self.__publishers.append(publisher)
return publisher
def create_publisher(self, msg_type, topic, qos_profile=qos_profile_default):
# this line imports the typesupport for the message module if not already done
if msg_type.__class__._TYPE_SUPPORT is None:
msg_type.__class__.__import_type_support__()
if msg_type.__class__._TYPE_SUPPORT is None:
raise NoTypeSupportImportedException
publisher_handle = _rclpy.rclpy_create_publisher(
self.handle, msg_type, topic, qos_profile.get_c_qos_profile())
publisher = Publisher(publisher_handle, msg_type, topic, qos_profile, self.handle)
self.publishers.append(publisher)
return publisher
def create_publisher(self, msg_type, topic, *, qos_profile=qos_profile_default):
# this line imports the typesupport for the message module if not already done
check_for_type_support(msg_type)
failed = False
try:
publisher_handle = _rclpy.rclpy_create_publisher(
self.handle, msg_type, topic, qos_profile.get_c_qos_profile())
except ValueError:
failed = True
if failed:
self._validate_topic_or_service_name(topic)
publisher = Publisher(publisher_handle, msg_type, topic, qos_profile, self.handle)
self.publishers.append(publisher)
return publisher