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First step towards modernizing the rt publisher (backport #210) #233

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@mergify mergify bot commented Dec 13, 2024

I think the rt publisher is one of the most commonly used tools in this package.
When ever I was using it I stumbled upon its "weird" API.

This PR is a first step towards modernizing the RealtimePublisher class, providing a tiny bit of comfort by adding a tryPublish method and providing some typedefs similar to the rclcpp::Publisher.

I plan to add a follow up PR where I refactor the NON_POLLING define into a template parameter.


This is an automatic backport of pull request #210 done by Mergify.

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codecov-commenter commented Dec 13, 2024

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 76.54%. Comparing base (c4407c8) to head (d480b1e).

Additional details and impacted files
@@            Coverage Diff             @@
##           humble     #233      +/-   ##
==========================================
+ Coverage   76.15%   76.54%   +0.39%     
==========================================
  Files           8        8              
  Lines         478      486       +8     
  Branches      183      184       +1     
==========================================
+ Hits          364      372       +8     
  Misses         77       77              
  Partials       37       37              
Flag Coverage Δ
unittests 76.54% <100.00%> (+0.39%) ⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines Coverage Δ
include/realtime_tools/realtime_publisher.hpp 96.82% <100.00%> (+0.46%) ⬆️

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3 participants