{

/// Setting to explicitly set intraprocess communications.

IntraProcessSetting use_intra_process_comm = IntraProcessSetting::NodeDefault;

/// Callbacks for various events related to publishers.

PublisherEventCallbacks event_callbacks;

/// Whether or not to use default callbacks when user doesn't supply any in event_callbacks

bool use_default_callbacks = true;

/// Callback group in which the waitable items from the publisher should be placed.

std::shared_ptr<rclcpp::CallbackGroup> callback_group;

/// Optional RMW implementation specific payload to be used during creation of the publisher.

std::shared_ptr<rclcpp::detail::RMWImplementationSpecificPublisherPayload>

rmw_implementation_payload = nullptr;

{

/// Optional custom allocator.

std::shared_ptr<Allocator> allocator = nullptr;

PublisherOptionsWithAllocator<Allocator>() {}

/// Constructor using base class as input.

explicit PublisherOptionsWithAllocator(const PublisherOptionsBase & publisher_options_base)

: PublisherOptionsBase(publisher_options_base)

{}

/// Convert this class, and a rclcpp::QoS, into an rcl_publisher_options_t.

template<typename MessageT>

rcl_publisher_options_t

to_rcl_publisher_options(const rclcpp::QoS & qos) const

{

rcl_publisher_options_t result;

using AllocatorTraits = std::allocator_traits<Allocator>;

using MessageAllocatorT = typename AllocatorTraits::template rebind_alloc<MessageT>;

auto message_alloc = std::make_shared<MessageAllocatorT>(*this->get_allocator().get());

result.allocator = rclcpp::allocator::get_rcl_allocator<MessageT>(*message_alloc);

result.qos = qos.get_rmw_qos_profile();

// Apply payload to rcl_publisher_options if necessary.

if (rmw_implementation_payload && rmw_implementation_payload->has_been_customized()) {

rmw_implementation_payload->modify_rmw_publisher_options(result.rmw_publisher_options);

}

return result;

}

/// Get the allocator, creating one if needed.

std::shared_ptr<Allocator>

get_allocator() const

{

if (!this->allocator) {

// TODO(wjwwood): I would like to use the commented line instead, but

// cppcheck 1.89 fails with:

// Syntax Error: AST broken, binary operator '>' doesn't have two operands.

// return std::make_shared<Allocator>();

std::shared_ptr<Allocator> tmp(new Allocator());

return tmp;

}

return this->allocator;

}