ROSPublishOperation (GRIP API)

java.lang.Object
- edu.wpi.grip.core.operations.network.NetworkPublishOperation<D>
- - edu.wpi.grip.core.operations.network.ros.ROSPublishOperation<D>

Type Parameters:

D - The type of the socket that is taken as an input to be published

All Implemented Interfaces:

Operation
```
public class ROSPublishOperation<D>
extends NetworkPublishOperation<D>
```
An operation that can publish a type to ROS using the java to message converter.

Field Summary
- Fields inherited from class edu.wpi.grip.core.operations.network.NetworkPublishOperation
  dataSocket, dataType, nameSocket

Constructor Summary

Constructors
Constructor	Description
`ROSPublishOperation(InputSocket.Factory inputSocketFactory, java.lang.Class<D> dataType, ROSNetworkPublisherFactory rosNetworkPublisherFactory, JavaToMessageConverter<D,?> converter)`

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`protected java.util.List<InputSocket<java.lang.Boolean>>`	`createFlagSockets()`	Creates a list of input sockets that control which items to publish.
`static OperationDescription`	`descriptionFor(java.lang.Class<?> dataType)`	Creates a `OperationDescription` for the given type.
`protected void`	`doPublish()`	Publishes the data.

Methods inherited from class edu.wpi.grip.core.operations.network.NetworkPublishOperation
getInputSockets, getOutputSockets, perform

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface edu.wpi.grip.core.Operation
cleanUp

- Constructor Detail
  - ROSPublishOperation
```
public ROSPublishOperation(InputSocket.Factory inputSocketFactory,
                           java.lang.Class<D> dataType,
                           ROSNetworkPublisherFactory rosNetworkPublisherFactory,
                           JavaToMessageConverter<D,?> converter)
```
    Parameters:
    
    inputSocketFactory - The factory for creating InputSocket
    
    dataType - The data type that this Operation will publish.
    
    rosNetworkPublisherFactory - The factory for handling the lifecycle of the ROS node.
    
    converter - The converter between the dataType and the ROS type.
- Method Detail
  - descriptionFor
```
public static OperationDescription descriptionFor(java.lang.Class<?> dataType)
```
    Creates a OperationDescription for the given type.
    
    Parameters:
    
    dataType - The type that this description will be publishing.
  - createFlagSockets
```
protected java.util.List<InputSocket<java.lang.Boolean>> createFlagSockets()
```
    Description copied from class: NetworkPublishOperation
    
    Creates a list of input sockets that control which items to publish.
    
    Specified by:
    
    createFlagSockets in class NetworkPublishOperation<D>
  - doPublish
```
protected void doPublish()
```
    Description copied from class: NetworkPublishOperation
    
    Publishes the data.
    
    Specified by:
    
    doPublish in class NetworkPublishOperation<D>