subscriber_filter.h
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34 
35 #ifndef IMAGE_TRANSPORT_SUBSCRIBER_FILTER_H
36 #define IMAGE_TRANSPORT_SUBSCRIBER_FILTER_H
37 
38 #include <ros/ros.h>
40 
42 
43 namespace image_transport {
44 
64 class SubscriberFilter : public message_filters::SimpleFilter<sensor_msgs::Image>
65 {
66 public:
77  SubscriberFilter(ImageTransport& it, const std::string& base_topic, uint32_t queue_size,
78  const TransportHints& transport_hints = TransportHints())
79  {
80  subscribe(it, base_topic, queue_size, transport_hints);
81  }
82 
87  {
88  }
89 
91  {
92  unsubscribe();
93  }
94 
105  void subscribe(ImageTransport& it, const std::string& base_topic, uint32_t queue_size,
106  const TransportHints& transport_hints = TransportHints())
107  {
108  unsubscribe();
109 
110  sub_ = it.subscribe(base_topic, queue_size, boost::bind(&SubscriberFilter::cb, this, _1),
111  ros::VoidPtr(), transport_hints);
112  }
113 
117  void unsubscribe()
118  {
119  sub_.shutdown();
120  }
121 
122  std::string getTopic() const
123  {
124  return sub_.getTopic();
125  }
126 
130  uint32_t getNumPublishers() const
131  {
132  return sub_.getNumPublishers();
133  }
134 
138  std::string getTransport() const
139  {
140  return sub_.getTransport();
141  }
142 
146  const Subscriber& getSubscriber() const
147  {
148  return sub_;
149  }
150 
151 private:
152 
153  void cb(const sensor_msgs::ImageConstPtr& m)
154  {
155  signalMessage(m);
156  }
157 
159 };
160 
161 }
162 
163 #endif
simple_filter.h
boost::shared_ptr< void >
image_transport.h
image_transport::SubscriberFilter::sub_
Subscriber sub_
Definition: subscriber_filter.h:222
ros.h
image_transport::SubscriberFilter::getNumPublishers
uint32_t getNumPublishers() const
Returns the number of publishers this subscriber is connected to.
Definition: subscriber_filter.h:194
image_transport::Subscriber::getNumPublishers
uint32_t getNumPublishers() const
Returns the number of publishers this subscriber is connected to.
Definition: subscriber.cpp:152
image_transport::SubscriberFilter::subscribe
void subscribe(ImageTransport &it, const std::string &base_topic, uint32_t queue_size, const TransportHints &transport_hints=TransportHints())
Subscribe to a topic.
Definition: subscriber_filter.h:169
image_transport::Subscriber::getTransport
std::string getTransport() const
Returns the name of the transport being used.
Definition: subscriber.cpp:158
image_transport::SubscriberFilter::cb
void cb(const sensor_msgs::ImageConstPtr &m)
Definition: subscriber_filter.h:217
image_transport::SubscriberFilter::~SubscriberFilter
~SubscriberFilter()
Definition: subscriber_filter.h:154
image_transport::SubscriberFilter::getTopic
std::string getTopic() const
Definition: subscriber_filter.h:186
message_filters::SimpleFilter
image_transport::Subscriber
Manages a subscription callback on a specific topic that can be interpreted as an Image topic.
Definition: subscriber.h:94
image_transport::SubscriberFilter::SubscriberFilter
SubscriberFilter()
Empty constructor, use subscribe() to subscribe to a topic.
Definition: subscriber_filter.h:150
image_transport::SubscriberFilter::getTransport
std::string getTransport() const
Returns the name of the transport being used.
Definition: subscriber_filter.h:202
image_transport::SubscriberFilter::getSubscriber
const Subscriber & getSubscriber() const
Returns the internal image_transport::Subscriber object.
Definition: subscriber_filter.h:210
image_transport
Definition: camera_common.h:41
message_filters::SimpleFilter< sensor_msgs::Image >::signalMessage
void signalMessage(const MConstPtr &msg)
image_transport::Subscriber::getTopic
std::string getTopic() const
Returns the base image topic.
Definition: subscriber.cpp:146
image_transport::SubscriberFilter::unsubscribe
void unsubscribe()
Force immediate unsubscription of this subscriber from its topic.
Definition: subscriber_filter.h:181
image_transport::Subscriber::shutdown
void shutdown()
Unsubscribe the callback associated with this Subscriber.
Definition: subscriber.cpp:164


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