diff options
Diffstat (limited to 'src/platforms/px4_publisher.h')
| -rw-r--r-- | src/platforms/px4_publisher.h | 7 |
1 files changed, 4 insertions, 3 deletions
diff --git a/src/platforms/px4_publisher.h b/src/platforms/px4_publisher.h index afedbbee7..ea675e67b 100644 --- a/src/platforms/px4_publisher.h +++ b/src/platforms/px4_publisher.h @@ -84,9 +84,9 @@ public: * Construct Publisher by providing a ros::Publisher * @param ros_pub the ros publisher which will be used to perform the publications */ - PublisherROS(ros::Publisher ros_pub) : + PublisherROS(ros::NodeHandle *rnh) : Publisher<T>(), - _ros_pub(ros_pub) + _ros_pub(rnh->advertise<typename std::remove_reference<decltype(((T*)nullptr)->data())>::type &>(T::handle(), kQueueSizeDefault)) {} ~PublisherROS() {}; @@ -99,7 +99,8 @@ public: _ros_pub.publish(msg.data()); return 0; } -private: +protected: + static const uint32_t kQueueSizeDefault = 1; /**< Size of queue for ROS */ ros::Publisher _ros_pub; /**< Handle to the ros publisher */ }; #else |