From ce146cfdbab2f512775d5dd585fe05b989069279 Mon Sep 17 00:00:00 2001
From: William Woodall <william@osrfoundation.org>
Date: Mon, 27 Feb 2017 18:48:01 -0800
Subject: [PATCH] add a publish method with the const MessageT * signature
 (#307)

---
 rclcpp/include/rclcpp/publisher.hpp                      | 9 +++++++++
 .../include/rclcpp_lifecycle/lifecycle_publisher.hpp     | 9 +++++++++
 2 files changed, 18 insertions(+)

diff --git a/rclcpp/include/rclcpp/publisher.hpp b/rclcpp/include/rclcpp/publisher.hpp
index 316b7ab..62d76bf 100644
--- a/rclcpp/include/rclcpp/publisher.hpp
+++ b/rclcpp/include/rclcpp/publisher.hpp
@@ -261,6 +261,15 @@ public:
     return this->publish(unique_msg);
   }
 
+  virtual void
+  publish(const MessageT * msg)
+  {
+    if (!msg) {
+      throw std::runtime_error("msg argument is nullptr");
+    }
+    return this->publish(*msg);
+  }
+
   std::shared_ptr<MessageAlloc> get_allocator() const
   {
     return message_allocator_;
diff --git a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_publisher.hpp b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_publisher.hpp
index c01ad98..61d0c6b 100644
--- a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_publisher.hpp
+++ b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_publisher.hpp
@@ -125,6 +125,15 @@ public:
     rclcpp::publisher::Publisher<MessageT, Alloc>::publish(msg);
   }
 
+  virtual void
+  publish(const MessageT * msg)
+  {
+    if (!msg) {
+      throw std::runtime_error("msg argument is nullptr");
+    }
+    this->publish(*msg);
+  }
+
   /// LifecyclePublisher pulish function
   /**
    * The publish function checks whether the communication