def publish(self, msg: MsgType) -> None:
"""
Send a message to the topic for the publisher.
:param msg: The ROS message to publish. The message must be the same type as the type
provided when the publisher was constructed.
"""
_rclpy.rclpy_publish(self.publisher_handle, msg)
def publish(self, msg: MsgType) -> None:
"""
Send a message to the topic for the publisher.
:param msg: The ROS message to publish.
:raises: TypeError if the type of the passed message isn't an instance
of the provided type when the publisher was constructed.
"""
if not isinstance(msg, self.msg_type):
raise TypeError()
with self.handle as capsule:
_rclpy.rclpy_publish(capsule, msg)
def publish(self, msg: Union[MsgType, bytes]) -> None:
"""
Send a message to the topic for the publisher.
:param msg: The ROS message to publish.
:raises: TypeError if the type of the passed message isn't an instance
of the provided type when the publisher was constructed.
"""
with self.handle as capsule:
if isinstance(msg, self.msg_type):
_rclpy.rclpy_publish(capsule, msg)
elif isinstance(msg, bytes):
_rclpy.rclpy_publish_raw(capsule, msg)
else:
raise TypeError('Expected {}, got {}'.format(self.msg_type, type(msg)))
def publish(self, msg):
_rclpy.rclpy_publish(self.publisher_handle, msg)
def publish(self, msg):
_rclpy.rclpy_publish(self.publisher_handle, msg)