First step towards modernizing the rt publisher (backport #210) #233
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I think the rt publisher is one of the most commonly used tools in this package.
When ever I was using it I stumbled upon its "weird" API.
This PR is a first step towards modernizing the RealtimePublisher class, providing a tiny bit of comfort by adding a
tryPublish
method and providing some typedefs similar to the rclcpp::Publisher.I plan to add a follow up PR where I refactor the NON_POLLING define into a template parameter.
This is an automatic backport of pull request #210 done by Mergify.