SharedSubscription< RosMessageType > Class Template Reference

Shared class for a ROS subscription. More...

#include <px4_ros2/components/shared_subscription.hpp>

Inheritance diagram for SharedSubscription< RosMessageType >:

Public Types
using	OnUpdateCallback = std::function< void(const typename RosMessageType::UniquePtr &)>

Public Member Functions
SharedSubscriptionCallbackInstance	registerOnUpdateCallback (OnUpdateCallback callback)
const rclcpp::Subscription< RosMessageType >::SharedPtr &	getSubscription () const

Static Public Member Functions
static SharedSubscription &	instance (rclcpp::Node &node, const std::string &topic_name)
static SharedSubscriptionCallbackInstance	create (rclcpp::Node &node, const std::string &topic_name, OnUpdateCallback callback)

Detailed Description

template<typename RosMessageType>
class SharedSubscription< RosMessageType >

Shared class for a ROS subscription.

Can be used for consistent callback ordering, by sharing a subscription instance, and to reduce resource (CPU load) overhead from creating multiple subscriptions in different components.

When using multiple nodes, a subscription per node is created.

Assumes the use of a single-threaded executor.

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The documentation for this class was generated from the following file:

• px4_ros2_cpp/include/px4_ros2/components/shared_subscription.hpp