From 354d933870b5625f0f9a9435cc8b78d3ff49fc11 Mon Sep 17 00:00:00 2001
From: Karsten Knese <karsten@osrfoundation.org>
Date: Fri, 24 Aug 2018 14:34:51 -0500
Subject: [PATCH] publish shared_ptr of rcl_serialized_message (#541)

* publish shared_ptr of rcl_serialized_message

* const parameter
---
 rclcpp/include/rclcpp/publisher.hpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/rclcpp/include/rclcpp/publisher.hpp b/rclcpp/include/rclcpp/publisher.hpp
index ec26790..acebcf8 100644
--- a/rclcpp/include/rclcpp/publisher.hpp
+++ b/rclcpp/include/rclcpp/publisher.hpp
@@ -289,6 +289,12 @@ public:
     }
   }
 
+  void
+  publish(std::shared_ptr<const rcl_serialized_message_t> serialized_msg)
+  {
+    return this->publish(serialized_msg.get());
+  }
+
   std::shared_ptr<MessageAlloc> get_allocator() const
   {
     return message_allocator_;