add missing CreateDefaultPublisher api (#143) (#144)

Co-authored-by: yuokamoto <yuokamoto1988@gmail.com>
rapyuta-robotics · May 3, 2024 · f7b00dc · f7b00dc
1 parent 3e69d57
commit f7b00dc
Showing 1 changed file with 7 additions and 5 deletions.
diff --git a/Source/rclUE/Public/ROS2Publisher.h b/Source/rclUE/Public/ROS2Publisher.h
@@ -246,17 +246,19 @@ class RCLUE_API UROS2PublisherComponent : public UActorComponent
     UPROPERTY(EditAnywhere, BlueprintReadWrite)
     FTopicCallback UpdateDelegate;
 
-    virtual void BeginPlay() override
+    UFUNCTION(BlueprintCallable)
+    virtual void DefaultCreatePublisher()
     {
         if (Publisher == nullptr)
         {
             Publisher = UROS2Publisher::CreateLoopPublisher(
                 this, TopicName, PublisherClass, MsgClass, PublicationFrequencyHz, UpdateDelegate, QoS);
         }
-        else
-        {
-            UE_LOG_WITH_INFO(LogTemp, Warning, TEXT("Publisher is not created in BeginPlay."));
-        }
+    }
+
+    virtual void BeginPlay() override
+    {
+        DefaultCreatePublisher();
         Super::BeginPlay();
     };