00001 #ifndef IMAGE_TRANSPORT_RAW_SUBSCRIBER_H 00002 #define IMAGE_TRANSPORT_RAW_SUBSCRIBER_H 00003 00004 #include "image_transport/simple_subscriber_plugin.h" 00005 00006 namespace image_transport { 00007 00014 class RawSubscriber : public SimpleSubscriberPlugin<sensor_msgs::Image> 00015 { 00016 public: 00017 virtual ~RawSubscriber() {} 00018 00019 virtual std::string getTransportName() const 00020 { 00021 return "raw"; 00022 } 00023 00024 protected: 00025 virtual void internalCallback(const sensor_msgs::ImageConstPtr& message, const Callback& user_cb) 00026 { 00027 user_cb(message); 00028 } 00029 00030 virtual std::string getTopicToSubscribe(const std::string& base_topic) const 00031 { 00032 return base_topic; 00033 } 00034 }; 00035 00036 } //namespace image_transport 00037 00038 #endif