From 9f6d56075460cd4406364637e82b74791b1164f3 Mon Sep 17 00:00:00 2001
From: Joshua Hampp <j.hampp@denso-adas.de>
Date: Fri, 17 Apr 2020 19:16:37 +0200
Subject: [PATCH] enabled publishing of rcl_serialized_message_t

---
 rclcpp/include/rclcpp/publisher.hpp | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/rclcpp/include/rclcpp/publisher.hpp b/rclcpp/include/rclcpp/publisher.hpp
index 09aff0018a..3261f80df1 100644
--- a/rclcpp/include/rclcpp/publisher.hpp
+++ b/rclcpp/include/rclcpp/publisher.hpp
@@ -207,6 +207,13 @@ class Publisher : public PublisherBase
     this->do_publish_message(msg);
   }
 
+  template<class T = MessageT>
+  typename std::enable_if<!std::is_same<T, rcl_serialized_message_t>::value>::type
+  publish(const rcl_serialized_message_t & serialized_msg)
+  {
+    this->do_publish_message<rcl_serialized_message_t>(serialized_msg);
+  }
+
   /// Publish a serialized message. Non specialized version to prevent compiling errors.
   template<typename TDeleter, typename T>
   void publish(std::unique_ptr<T, TDeleter> serialized_msg)
@@ -322,7 +329,7 @@ class Publisher : public PublisherBase
 
   template<class T = MessageT>
   typename std::enable_if<std::is_same<T, rcl_serialized_message_t>::value>::type
-  do_publish_message(const MessageT & msg)
+  do_publish_message(const T & msg)
   {
     // Kept for backwards compatibility. Copies compelete memory!
     this->publish(std::make_unique<rclcpp::experimental::SerializedMessage>(msg));