Base class to simplify implementing most plugins to Publisher. More...
#include <simple_publisher_plugin.h>
Classes | |
| struct | SimplePublisherPluginImpl |
Public Member Functions | |
| virtual uint32_t | getNumSubscribers () const |
| Returns the number of subscribers that are currently connected to this PublisherPlugin. | |
| virtual std::string | getTopic () const |
| Returns the communication topic that this PublisherPlugin will publish on. | |
| virtual void | publish (const sensor_msgs::Image &message) const |
| Publish an image using the transport associated with this PublisherPlugin. | |
| virtual void | shutdown () |
| Shutdown any advertisements associated with this PublisherPlugin. | |
| virtual | ~SimplePublisherPlugin () |
Protected Types | |
| typedef boost::function< void(const M &)> | PublishFn |
| Generic function for publishing the internal message type. | |
Protected Member Functions | |
| virtual void | advertiseImpl (ros::NodeHandle &nh, const std::string &base_topic, uint32_t queue_size, const SubscriberStatusCallback &user_connect_cb, const SubscriberStatusCallback &user_disconnect_cb, const ros::VoidPtr &tracked_object, bool latch) |
| Advertise a topic. Must be implemented by the subclass. | |
| virtual void | connectCallback (const ros::SingleSubscriberPublisher &pub) |
| Function called when a subscriber connects to the internal publisher. | |
| virtual void | disconnectCallback (const ros::SingleSubscriberPublisher &pub) |
| Function called when a subscriber disconnects from the internal publisher. | |
| const ros::Publisher & | getPublisher () const |
| Returns the internal ros::Publisher. | |
| virtual std::string | getTopicToAdvertise (const std::string &base_topic) const |
| Return the communication topic name for a given base topic. | |
| const ros::NodeHandle & | nh () const |
| Returns the ros::NodeHandle to be used for parameter lookup. | |
| virtual void | publish (const sensor_msgs::Image &message, const PublishFn &publish_fn) const =0 |
| Publish an image using the specified publish function. Must be implemented by the subclass. | |
Private Types | |
| typedef boost::function< void(const sensor_msgs::Image &)> | ImagePublishFn |
| typedef void(SimplePublisherPlugin::* | SubscriberStatusMemFn )(const ros::SingleSubscriberPublisher &pub) |
Private Member Functions | |
| ros::SubscriberStatusCallback | bindCB (const SubscriberStatusCallback &user_cb, SubscriberStatusMemFn internal_cb_fn) |
| template<class PubT > | |
| PublishFn | bindInternalPublisher (const PubT &pub) const |
| void | subscriberCB (const ros::SingleSubscriberPublisher &ros_ssp, const SubscriberStatusCallback &user_cb, const ros::SubscriberStatusCallback &internal_cb) |
Private Attributes | |
| boost::scoped_ptr < SimplePublisherPluginImpl > | simple_impl_ |
Base class to simplify implementing most plugins to Publisher.
This base class vastly simplifies implementing a PublisherPlugin in the common case that all communication with the matching SubscriberPlugin happens over a single ROS topic using a transport-specific message type. SimplePublisherPlugin is templated on the transport-specific message type.
A subclass need implement only two methods:
For access to the parameter server and name remappings, use nh().
getTopicToAdvertise() controls the name of the internal communication topic. It defaults to <base topic>/<transport name>.
Definition at line 27 of file simple_publisher_plugin.h.
typedef boost::function<void(const sensor_msgs::Image&)> image_transport::SimplePublisherPlugin< M >::ImagePublishFn [private] |
Definition at line 186 of file simple_publisher_plugin.h.
typedef boost::function<void(const M&)> image_transport::SimplePublisherPlugin< M >::PublishFn [protected] |
Generic function for publishing the internal message type.
Definition at line 75 of file simple_publisher_plugin.h.
typedef void(SimplePublisherPlugin::* image_transport::SimplePublisherPlugin< M >::SubscriberStatusMemFn)(const ros::SingleSubscriberPublisher &pub) [private] |
Definition at line 145 of file simple_publisher_plugin.h.
| virtual image_transport::SimplePublisherPlugin< M >::~SimplePublisherPlugin | ( | ) | [inline, virtual] |
Definition at line 30 of file simple_publisher_plugin.h.
| virtual void image_transport::SimplePublisherPlugin< M >::advertiseImpl | ( | ros::NodeHandle & | nh, | |
| const std::string & | base_topic, | |||
| uint32_t | queue_size, | |||
| const SubscriberStatusCallback & | connect_cb, | |||
| const SubscriberStatusCallback & | disconnect_cb, | |||
| const ros::VoidPtr & | tracked_object, | |||
| bool | latch | |||
| ) | [inline, protected, virtual] |
Advertise a topic. Must be implemented by the subclass.
Implements image_transport::PublisherPlugin.
Definition at line 60 of file simple_publisher_plugin.h.
| ros::SubscriberStatusCallback image_transport::SimplePublisherPlugin< M >::bindCB | ( | const SubscriberStatusCallback & | user_cb, | |
| SubscriberStatusMemFn | internal_cb_fn | |||
| ) | [inline, private] |
Binds the user callback to subscriberCB(), which acts as an intermediary to expose a publish(Image) interface to the user while publishing to an internal topic.
Definition at line 151 of file simple_publisher_plugin.h.
| PublishFn image_transport::SimplePublisherPlugin< M >::bindInternalPublisher | ( | const PubT & | pub | ) | const [inline, private] |
Returns a function object for publishing the transport-specific message type through some ROS publisher type.
| pub | An object with method void publish(const M&) |
Definition at line 195 of file simple_publisher_plugin.h.
| virtual void image_transport::SimplePublisherPlugin< M >::connectCallback | ( | const ros::SingleSubscriberPublisher & | pub | ) | [inline, protected, virtual] |
Function called when a subscriber connects to the internal publisher.
Defaults to noop.
Definition at line 102 of file simple_publisher_plugin.h.
| virtual void image_transport::SimplePublisherPlugin< M >::disconnectCallback | ( | const ros::SingleSubscriberPublisher & | pub | ) | [inline, protected, virtual] |
Function called when a subscriber disconnects from the internal publisher.
Defaults to noop.
Definition at line 109 of file simple_publisher_plugin.h.
| virtual uint32_t image_transport::SimplePublisherPlugin< M >::getNumSubscribers | ( | ) | const [inline, virtual] |
Returns the number of subscribers that are currently connected to this PublisherPlugin.
Implements image_transport::PublisherPlugin.
Definition at line 32 of file simple_publisher_plugin.h.
| const ros::Publisher& image_transport::SimplePublisherPlugin< M >::getPublisher | ( | ) | const [inline, protected] |
Returns the internal ros::Publisher.
This really only exists so RawPublisher can implement no-copy intraprocess message passing easily.
Definition at line 125 of file simple_publisher_plugin.h.
| virtual std::string image_transport::SimplePublisherPlugin< M >::getTopic | ( | ) | const [inline, virtual] |
Returns the communication topic that this PublisherPlugin will publish on.
Implements image_transport::PublisherPlugin.
Definition at line 38 of file simple_publisher_plugin.h.
| virtual std::string image_transport::SimplePublisherPlugin< M >::getTopicToAdvertise | ( | const std::string & | base_topic | ) | const [inline, protected, virtual] |
Return the communication topic name for a given base topic.
Defaults to <base topic>/<transport name>.
Reimplemented in image_transport::RawPublisher.
Definition at line 92 of file simple_publisher_plugin.h.
| const ros::NodeHandle& image_transport::SimplePublisherPlugin< M >::nh | ( | ) | const [inline, protected] |
Returns the ros::NodeHandle to be used for parameter lookup.
Definition at line 114 of file simple_publisher_plugin.h.
| virtual void image_transport::SimplePublisherPlugin< M >::publish | ( | const sensor_msgs::Image & | message, | |
| const PublishFn & | publish_fn | |||
| ) | const [protected, pure virtual] |
Publish an image using the specified publish function. Must be implemented by the subclass.
The PublishFn publishes the transport-specific message type. This indirection allows SimpleSubscriberPlugin to use this function for both normal broadcast publishing and single subscriber publishing (in subscription callbacks).
Implemented in image_transport::RawPublisher.
| virtual void image_transport::SimplePublisherPlugin< M >::publish | ( | const sensor_msgs::Image & | message | ) | const [inline, virtual] |
Publish an image using the transport associated with this PublisherPlugin.
Implements image_transport::PublisherPlugin.
Definition at line 44 of file simple_publisher_plugin.h.
| virtual void image_transport::SimplePublisherPlugin< M >::shutdown | ( | ) | [inline, virtual] |
Shutdown any advertisements associated with this PublisherPlugin.
Implements image_transport::PublisherPlugin.
Definition at line 54 of file simple_publisher_plugin.h.
| void image_transport::SimplePublisherPlugin< M >::subscriberCB | ( | const ros::SingleSubscriberPublisher & | ros_ssp, | |
| const SubscriberStatusCallback & | user_cb, | |||
| const ros::SubscriberStatusCallback & | internal_cb | |||
| ) | [inline, private] |
Forms the ros::SingleSubscriberPublisher for the internal communication topic into an image_transport::SingleSubscriberPublisher for Image messages and passes it to the user subscriber status callback.
Definition at line 166 of file simple_publisher_plugin.h.
boost::scoped_ptr<SimplePublisherPluginImpl> image_transport::SimplePublisherPlugin< M >::simple_impl_ [private] |
Definition at line 143 of file simple_publisher_plugin.h.
