3.2. MetaPublisher

std::shared_ptr<is::TopicPublisher> eprosima::is::sh::ros1::make_meta_publisher(const eprosima::xtypes::DynamicType &message_type, ros::NodeHandle &node, const std::string &topic_name, uint32_t queue_size, bool latch, const YAML::Node &configuration)

Produces a is::TopicPublisher that allows to use runtime substitution parameters in the YAML configuration file.

See

is::core::StringTemplate

Return

A pointer to the created Integration Service TopicPublisher entity.

Parameters

  • [in] message_type: A reference to the dynamic type representation of the topic type.

  • [in] node: The ROS 1 node that will hold this publisher.

  • [in] topic_name: The topic name to publish to.

  • [in] queue_size: The maximum message queue size for the ROS 1 publisher.

  • [in] latch: Enable/disable latching. When a connection is latched, the last message published is saved and sent to any future subscribers that connect.

  • [in] configuration: The configuration specific for this SystemHandle, as described in the user-provided YAML input file.