Class Gateway

• Defined in File gateway.hpp

Class Documentation

class Gateway

Unified gateway for topic forwarding.

The gateway handles both:

1. Explicit topics - configured with specific downsample ratios

2. Auto-discovered topics - found via ROS graph introspection

Message types are always auto-discovered, eliminating the need for manual type specification in config.

Public Functions

Gateway(rclcpp::Node *node, const GatewayConfig &config, FoxgloveLogger *logger, bool verbose, const std::vector<std::string> &handled_topics = {}, const std::vector<ExplicitTopicConfig> &explicit_topics = {})

void start()

void discoverAndSubscribe()

inline size_t getSubscriptionCount() const

inline size_t getExplicitTopicCount() const