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feat(tier4_autoware_utils): add InterProcessPollingSubscriber helper factory #7349

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Jun 10, 2024
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feat(tier4_autoware_utils): add InterProcessPollingSubscriber helper factory #7349

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8 changes: 8 additions & 0 deletions common/tier4_autoware_utils/include/tier4_autoware_utils/ros/polling_subscriber.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,14 @@ namespace tier4_autoware_utils
template <typename T>
class InterProcessPollingSubscriber
{
public:
using SharedPtr = std::shared_ptr<InterProcessPollingSubscriber<T>>;
static SharedPtr create_subscription(
rclcpp::Node * node, const std::string & topic_name, const rclcpp::QoS & qos = rclcpp::QoS{1})
{
return std::make_shared<InterProcessPollingSubscriber<T>>(node, topic_name, qos);
}

private:
typename rclcpp::Subscription<T>::SharedPtr subscriber_;
typename T::SharedPtr data_;
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