<<PackageHeader(realtime_tools)>>


== Realtime Publisher ==
The `realtime_tools::RealtimePublisher` allows users that write C++ [[pr2_controller_manager|realtime controllers]] to publish messages on a ROS topic from a hard realtime loop. The normal ROS publisher is not realtime safe, and should not be used from within the update loop of a realtime controller. The realtime publisher is a wrapper around the ROS publisher; the wrapper creates an extra non-realtime thread that publishes messages on a ROS topic. The example below shows a typical usage of the realtime publisher in the `init()` and `update()` methods of a realtime controller:
{{{
#!cplusplus
#include <realtime_tools/realtime_publisher.h>

bool MyController::init(pr2_mechanism_model::RobotState *robot,
                        ros::NodeHandle &n)
{
  ...

  realtime_pub = new 
    realtime_tools::RealtimePublisher<mgs_type>(n, "topic", 4);
  return true;
}


void MyController::update()
{
  if (realtime_pub->trylock()){
    realtime_pub->msg_.a_field = "hallo";
    realtime_pub->msg_.header.stamp = ros::Time::now();
    realtime_pub->unlockAndPublish();
  }
  ...
}
}}}



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