def __init__(self, name, data_class, subscriber_listener=None, tcp_nodelay=False, latch=False, headers=None):
"""
Constructor
@param name: resource name of topic, e.g. 'laser'.
@type name: str
@param data_class: message class for serialization
@type data_class: L{Message} class
@param subscriber_listener: listener for
subscription events. May be None.
@type subscriber_listener: L{SubscribeListener}
@param tcp_nodelay: If True, sets TCP_NODELAY on
publisher's socket (disables Nagle algorithm). This results
in lower latency publishing at the cost of efficiency.
@type tcp_nodelay: bool
@param latch: If True, the last message published is
'latched', meaning that any future subscribers will be sent
that message immediately upon connection.
@type latch: bool
@raise ROSException: if parameters are invalid
"""
super(Publisher, self).__init__(name, data_class, Registration.PUB)
if subscriber_listener:
self.impl.add_subscriber_listener(subscriber_listener)
if tcp_nodelay:
get_tcpros_handler().set_tcp_nodelay(self.resolved_name, tcp_nodelay)
if latch:
self.impl.enable_latch()
if headers:
self.impl.add_headers(headers)
def __init__(self, name, data_class, subscriber_listener=None, tcp_nodelay=False, latch=False, headers=None):
"""
Constructor
@param name: resource name of topic, e.g. 'laser'.
@type name: str
@param data_class: message class for serialization
@type data_class: L{Message} class
@param subscriber_listener: listener for
subscription events. May be None.
@type subscriber_listener: L{SubscribeListener}
@param tcp_nodelay: If True, sets TCP_NODELAY on
publisher's socket (disables Nagle algorithm). This results
in lower latency publishing at the cost of efficiency.
@type tcp_nodelay: bool
@param latch: If True, the last message published is
'latched', meaning that any future subscribers will be sent
that message immediately upon connection.
@type latch: bool
@raise ROSException: if parameters are invalid
"""
super(Publisher, self).__init__(name, data_class, Registration.PUB)
if subscriber_listener:
self.impl.add_subscriber_listener(subscriber_listener)
if tcp_nodelay:
get_tcpros_handler().set_tcp_nodelay(self.resolved_name, tcp_nodelay)
if latch:
self.impl.enable_latch()
if headers:
self.impl.add_headers(headers)
def __init__(self, name, data_class, subscriber_listener=None, tcp_nodelay=False, latch=False, headers=None, queue_size=None):
"""
Constructor
@param name: resource name of topic, e.g. 'laser'.
@type name: str
@param data_class: message class for serialization
@type data_class: L{Message} class
@param subscriber_listener: listener for
subscription events. May be None.
@type subscriber_listener: L{SubscribeListener}
@param tcp_nodelay: If True, sets TCP_NODELAY on
publisher's socket (disables Nagle algorithm). This results
in lower latency publishing at the cost of efficiency.
@type tcp_nodelay: bool
@param latch: If True, the last message published is
'latched', meaning that any future subscribers will be sent
that message immediately upon connection.
@type latch: bool
@param headers: If not None, a dictionary with additional header
key-values being used for future connections.
@type headers: dict
@param queue_size: The queue size used for asynchronously
publishing messages from different threads. A size of zero
means an infinite queue, which can be dangerous. When the
keyword is not being used or when None is passed all
publishing will happen synchronously and a warning message
will be printed.
@type queue_size: int
@raise ROSException: if parameters are invalid
"""
super(Publisher, self).__init__(name, data_class, Registration.PUB)
if subscriber_listener:
self.impl.add_subscriber_listener(subscriber_listener)
if tcp_nodelay:
get_tcpros_handler().set_tcp_nodelay(self.resolved_name, tcp_nodelay)
if latch:
self.impl.enable_latch()
if headers:
self.impl.add_headers(headers)
if queue_size is not None:
self.impl.set_queue_size(queue_size)
else:
import warnings
warnings.warn("The publisher should be created with an explicit keyword argument 'queue_size'. "
"Please see http://wiki.ros.org/rospy/Overview/Publishers%20and%20Subscribers for more information.", SyntaxWarning, stacklevel=2)