BasicPublisher.cpp

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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>.
 
#include "carla/ros2/publishers/BasicPublisher.h"
 
#include "carla/Logging.h"
#include "carla/ros2/publishers/PublisherImpl.h"
#include "carla/ros2/types/msg/String.h"
 
namespace carla {
namespace ros2 {
 
namespace {
constexpr const char *kBasicPublisherTopic = "rt/basic_publisher_example";
}  // namespace
 
struct BasicPublisherMsgTraits {
  using msg_type = msg::String;
};
 
BasicPublisher::BasicPublisher()
  : BasePublisher(kBasicPublisherTopic, ""),
    _impl(std::make_shared<PublisherImpl<BasicPublisherMsgTraits>>()) {}
 
BasicPublisher::~BasicPublisher() = default;
 
bool BasicPublisher::Init() {
  return _impl->Init(kBasicPublisherTopic);
}
 
bool BasicPublisher::Publish() {
  return _impl->Publish();
}
 
void BasicPublisher::SetData(const std::string &msg) {
  _impl->GetMessage()->data = msg;
}
 
}  // namespace ros2
}  // namespace carla