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publish shared_ptr of rcl_serialized_message #541

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merged 2 commits into from
Aug 24, 2018
Merged

publish shared_ptr of rcl_serialized_message #541

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667d1e3
publish shared_ptr of rcl_serialized_message
Karsten1987 Aug 24, 2018
7e5b416
const parameter
Karsten1987 Aug 24, 2018
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6 changes: 6 additions & 0 deletions rclcpp/include/rclcpp/publisher.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -289,6 +289,12 @@ class Publisher : public PublisherBase
}
}

void
publish(std::shared_ptr<const rcl_serialized_message_t> serialized_msg)
{
return this->publish(serialized_msg.get());
}

std::shared_ptr<MessageAlloc> get_allocator() const
{
return message_allocator_;
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