Module roslua.publisher
Topic publisher. This module contains the Publisher class to publish to a ROS topic. The class is used to publish messages to a specified topic. It is created using the function roslua.publisher().
The main interaction for applications is using the publish() method to send new messages. The publisher spins automatically when created using roslua.publisher().
Copyright© Tim Niemueller, Carnegie Mellon University, Intel Research Pittsburgh
Release: Released under BSD license
Functions
| Publisher:finalize () | Finalize instance. |
| Publisher:get_stats () | Get statistics about this publisher. |
| Publisher:new (topic, type) | Constructor. |
| Publisher:publish (message) | Publish message to topic. |
| Publisher:spin () | Spin function. |
| Publisher:start_server () | Start the internal TCP server to accept ROS subscriber connections. |
| Publisher:wait_for_subscriber () | Wait for a subscriber to connect. |
Functions
- Publisher:finalize ()
- Finalize instance.
- Publisher:get_stats ()
-
Get statistics about this publisher.
Return value:
an array containing the topic name as the first entry, and another array as the second entry. This array contains itself tables with four fields each: the remote caller ID of the connection, the number of bytes sent, number of messages sent and connection aliveness (always true). Suitable for getBusStats of slave API. - Publisher:new (topic, type)
-
Constructor. Create a new publisher instance.
Parameters
- topic: topic to publish to
- type: type of the topic
- Publisher:publish (message)
-
Publish message to topic. The messages are sent immediately. Busy or bad network connections or a large number of subscribers can slow down this method.
Parameters
- message: message to publish
- Publisher:spin ()
- Spin function. While spinning the publisher accepts new connections.
- Publisher:start_server ()
- Start the internal TCP server to accept ROS subscriber connections.
- Publisher:wait_for_subscriber ()
- Wait for a subscriber to connect.