publish_raw function

ros2 · Oct 23, 2017 · 6854cd3 · 6854cd3
1 parent 38d3725
commit 6854cd3
Show file tree

Hide file tree

Showing 3 changed files with 21 additions and 0 deletions.
diff --git a/rcl/include/rcl/publisher.h b/rcl/include/rcl/publisher.h
@@ -251,6 +251,11 @@ RCL_WARN_UNUSED
 rcl_ret_t
 rcl_publish(const rcl_publisher_t * publisher, const void * ros_message);
 
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_publish_raw(const rcl_publisher_t * publisher, const rcl_message_raw_t * raw_message);
+
 /// Get the topic name for the publisher.
 /**
  * This function returns the publisher's internal topic name string.

diff --git a/rcl/include/rcl/types.h b/rcl/include/rcl/types.h
@@ -87,4 +87,7 @@ typedef rmw_ret_t rcl_ret_t;
 /// Given rcl_wait_set_t is full return code.
 #define RCL_RET_WAIT_SET_FULL 902
 
+/// typedef for rmw_message_raw_t;
+typedef rmw_message_raw_t rcl_message_raw_t;
+
 #endif  // RCL__TYPES_H_
diff --git a/rcl/src/rcl/publisher.c b/rcl/src/rcl/publisher.c
@@ -210,6 +210,19 @@ rcl_publish(const rcl_publisher_t * publisher, const void * ros_message)
   return RCL_RET_OK;
 }
 
+rcl_ret_t
+rcl_publish_raw(const rcl_publisher_t * publisher, const rcl_message_raw_t * raw_message)
+{
+  if (!rcl_publisher_is_valid(publisher)) {
+    return RCL_RET_PUBLISHER_INVALID;
+  }
+  if (rmw_publish_raw(publisher->impl->rmw_handle, raw_message) != RMW_RET_OK) {
+    RCL_SET_ERROR_MSG(rmw_get_error_string_safe(), rcl_get_default_allocator());
+    return RCL_RET_ERROR;
+  }
+  return RCL_RET_OK;
+}
+
 const char *
 rcl_publisher_get_topic_name(const rcl_publisher_t * publisher)
 {