publisher_plugin.h
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34 
35 #ifndef IMAGE_TRANSPORT_PUBLISHER_PLUGIN_H
36 #define IMAGE_TRANSPORT_PUBLISHER_PLUGIN_H
37 
38 #include <ros/ros.h>
39 #include <sensor_msgs/Image.h>
41 
42 namespace image_transport {
43 
47 class PublisherPlugin : boost::noncopyable
48 {
49 public:
50  virtual ~PublisherPlugin() {}
51 
56  virtual std::string getTransportName() const = 0;
57 
61  void advertise(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
62  bool latch = true)
63  {
64  advertiseImpl(nh, base_topic, queue_size, SubscriberStatusCallback(),
66  }
67 
71  void advertise(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
72  const SubscriberStatusCallback& connect_cb,
73  const SubscriberStatusCallback& disconnect_cb = SubscriberStatusCallback(),
74  const ros::VoidPtr& tracked_object = ros::VoidPtr(), bool latch = true)
75  {
76  advertiseImpl(nh, base_topic, queue_size, connect_cb, disconnect_cb, tracked_object, latch);
77  }
78 
83  virtual uint32_t getNumSubscribers() const = 0;
84 
88  virtual std::string getTopic() const = 0;
89 
93  virtual void publish(const sensor_msgs::Image& message) const = 0;
94 
98  virtual void publish(const sensor_msgs::ImageConstPtr& message) const
99  {
100  publish(*message);
101  }
102 
110  virtual void publish(const sensor_msgs::Image& message, const uint8_t* data) const
111  {
112  sensor_msgs::Image msg;
113  msg.header = message.header;
114  msg.height = message.height;
115  msg.width = message.width;
116  msg.encoding = message.encoding;
117  msg.is_bigendian = message.is_bigendian;
118  msg.step = message.step;
119  msg.data = std::vector<uint8_t>(data, data + msg.step*msg.height);
120 
121  publish(msg);
122  }
123 
127  virtual void shutdown() = 0;
128 
133  static std::string getLookupName(const std::string& transport_name)
134  {
135  return "image_transport/" + transport_name + "_pub";
136  }
137 
138 protected:
142  virtual void advertiseImpl(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
143  const SubscriberStatusCallback& connect_cb,
144  const SubscriberStatusCallback& disconnect_cb,
145  const ros::VoidPtr& tracked_object, bool latch) = 0;
146 };
147 
148 } //namespace image_transport
149 
150 #endif
image_transport::PublisherPlugin::advertiseImpl
virtual void 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)=0
Advertise a topic. Must be implemented by the subclass.
single_subscriber_publisher.h
boost::shared_ptr< void >
image_transport::PublisherPlugin::publish
virtual void publish(const sensor_msgs::Image &message) const =0
Publish an image using the transport associated with this PublisherPlugin.
ros.h
image_transport::PublisherPlugin::getTransportName
virtual std::string getTransportName() const =0
Get a string identifier for the transport provided by this plugin.
image_transport::PublisherPlugin::getLookupName
static std::string getLookupName(const std::string &transport_name)
Return the lookup name of the PublisherPlugin associated with a specific transport identifier.
Definition: publisher_plugin.h:197
SubscriberStatusCallback
boost::function< void(const SingleSubscriberPublisher &)> SubscriberStatusCallback
image_transport::PublisherPlugin::advertise
void advertise(ros::NodeHandle &nh, const std::string &base_topic, uint32_t queue_size, bool latch=true)
Advertise a topic, simple version.
Definition: publisher_plugin.h:125
image_transport::PublisherPlugin::getTopic
virtual std::string getTopic() const =0
Returns the communication topic that this PublisherPlugin will publish on.
image_transport::PublisherPlugin::~PublisherPlugin
virtual ~PublisherPlugin()
Definition: publisher_plugin.h:114
image_transport
Definition: camera_common.h:41
image_transport::SubscriberStatusCallback
boost::function< void(const SingleSubscriberPublisher &)> SubscriberStatusCallback
Definition: single_subscriber_publisher.h:109
image_transport::PublisherPlugin::shutdown
virtual void shutdown()=0
Shutdown any advertisements associated with this PublisherPlugin.
ros::NodeHandle
image_transport::PublisherPlugin::getNumSubscribers
virtual uint32_t getNumSubscribers() const =0
Returns the number of subscribers that are currently connected to this PublisherPlugin.


image_transport
Author(s): Patrick Mihelich
autogenerated on Sun Apr 5 2020 03:15:28