BasicPublisher.h

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// Copyright (c) 2026 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB).
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
 
#include "carla/ros2/publishers/BasePublisher.h"
 
#include <memory>
#include <string>
 
namespace carla {
namespace ros2 {
 
template <typename Traits> class PublisherImpl;
struct BasicPublisherMsgTraits;
 
// Developer scaffold: publishes a std_msgs::String to a fixed topic
// (`rt/basic_publisher_example`). Only reachable from the WITH_ROS2_DEMO
// code paths in ROS2.cpp, but compiles unconditionally so the
// carla-ros2-native ExternalProject can pick it up.
class BasicPublisher : public BasePublisher {
public:
  BasicPublisher();
  ~BasicPublisher() override;
 
  BasicPublisher(const BasicPublisher &) = delete;
  BasicPublisher &operator=(const BasicPublisher &) = delete;
  BasicPublisher(BasicPublisher &&) noexcept = default;
  BasicPublisher &operator=(BasicPublisher &&) noexcept = default;
 
  bool Init();
  bool Publish() override;
  void SetData(const std::string &msg);
 
private:
  std::shared_ptr<PublisherImpl<BasicPublisherMsgTraits>> _impl;
};
 
}  // namespace ros2
}  // namespace carla