raw_publisher.h
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34 
35 #ifndef IMAGE_TRANSPORT_RAW_PUBLISHER_H
36 #define IMAGE_TRANSPORT_RAW_PUBLISHER_H
37 
39 
40 namespace image_transport {
41 
48 class RawPublisher : public SimplePublisherPlugin<sensor_msgs::Image>
49 {
50 public:
51  virtual ~RawPublisher() {}
52 
53  virtual std::string getTransportName() const
54  {
55  return "raw";
56  }
57 
58  // Override the default implementation because publishing the message pointer allows
59  // the no-copy intraprocess optimization.
60  virtual void publish(const sensor_msgs::ImageConstPtr& message) const
61  {
62  getPublisher().publish(message);
63  }
64 
65  // Override the default implementation to not copy data to a sensor_msgs::Image first
66  virtual void publish(const sensor_msgs::Image& message, const uint8_t* data) const;
67 
68 protected:
69  virtual void publish(const sensor_msgs::Image& message, const PublishFn& publish_fn) const
70  {
71  publish_fn(message);
72  }
73 
74  virtual std::string getTopicToAdvertise(const std::string& base_topic) const
75  {
76  return base_topic;
77  }
78 };
79 
80 } //namespace image_transport
81 
82 #endif
image_transport::RawPublisher::~RawPublisher
virtual ~RawPublisher()
Definition: raw_publisher.h:115
image_transport::SimplePublisherPlugin< sensor_msgs::Image >::getPublisher
const ros::Publisher & getPublisher() const
Returns the internal ros::Publisher.
Definition: simple_publisher_plugin.h:223
ros::Publisher::publish
void publish(const boost::shared_ptr< M > &message) const
image_transport::RawPublisher::getTransportName
virtual std::string getTransportName() const
Get a string identifier for the transport provided by this plugin.
Definition: raw_publisher.h:117
image_transport::SimplePublisherPlugin< sensor_msgs::Image >::PublishFn
boost::function< void(const sensor_msgs::Image &)> PublishFn
Generic function for publishing the internal message type.
Definition: simple_publisher_plugin.h:173
simple_publisher_plugin.h
image_transport::RawPublisher::getTopicToAdvertise
virtual std::string getTopicToAdvertise(const std::string &base_topic) const
Return the communication topic name for a given base topic.
Definition: raw_publisher.h:138
image_transport
Definition: camera_common.h:41
image_transport::RawPublisher::publish
virtual void publish(const sensor_msgs::ImageConstPtr &message) const
Publish an image using the transport associated with this PublisherPlugin.
Definition: raw_publisher.h:124


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