def advertise(topic_name, topic_type, options={})
      if options[:no_resolve]
        name = topic_name
      else
        name = resolve_name(topic_name)
      end
      publisher = Publisher.new(@node_name,
                                name,
                                topic_type,
                                options[:latched],
                                @manager.host)
      @manager.add_publisher(publisher)
      trap_signals
      publisher
    end
def advertise(topic_name, topic_type, options={})
      if options[:no_resolve]
        name = topic_name
      else
        name = resolve_name(topic_name)
      end
      publisher = Publisher.new(@node_name,
                                name,
                                topic_type,
                                options[:latched],
                                @manager.host)
      @manager.add_publisher(publisher)
      trap_signals
      publisher
    end
start publishing the topic.

 @param [String] topic_name name of topic (string)
 @param [Class] topic_type topic class
 @param [Hash] options :latched, :resolve
 @option options [Boolean] :latched (false) latched topic
 @option options [Boolean] :resolve (true) resolve topic_name or not. This is for publish /rosout with namespaced node.
 @return [Publisher] Publisher instance