Class ImageTransport

Defined in File image_transport.hpp

Class Documentation

class ImageTransport

Advertise and subscribe to image topics.

ImageTransport is analogous to ros::NodeHandle in that it contains advertise() and subscribe() functions for creating advertisements and subscriptions of image topics.

Public Types

using VoidPtr = std::shared_ptr<void>

using ImageConstPtr = sensor_msgs::msg::Image::ConstSharedPtr

using CameraInfoConstPtr = sensor_msgs::msg::CameraInfo::ConstSharedPtr

Public Functions

explicit IMAGE_TRANSPORT_PUBLIC ImageTransport(rclcpp::Node::SharedPtr node)

IMAGE_TRANSPORT_PUBLIC ~ImageTransport()

IMAGE_TRANSPORT_PUBLIC Publisher advertise (const std::string &base_topic, uint32_t queue_size, bool latch=false): Advertise an image topic, simple version.

IMAGE_TRANSPORT_PUBLIC Subscriber subscribe (const std::string &base_topic, uint32_t queue_size, const Subscriber::Callback &callback, const VoidPtr &tracked_object=VoidPtr(), const TransportHints *transport_hints=nullptr)

Advertise an image topic with subcriber status callbacks.

Subscribe to an image topic, version for arbitrary std::function object.

IMAGE_TRANSPORT_PUBLIC Subscriber subscribe (const std::string &base_topic, uint32_t queue_size, const Subscriber::Callback &callback, const VoidPtr &tracked_object, const TransportHints *transport_hints, const rclcpp::SubscriptionOptions options): Subscribe to an image topic, version for arbitrary std::function object.

inline IMAGE_TRANSPORT_PUBLIC Subscriber subscribe (const std::string &base_topic, uint32_t queue_size, void(*fp)(const ImageConstPtr &), const TransportHints *transport_hints=nullptr): Subscribe to an image topic, version for bare function.

inline IMAGE_TRANSPORT_PUBLIC Subscriber subscribe (const std::string &base_topic, uint32_t queue_size, void(*fp)(const ImageConstPtr &), const TransportHints *transport_hints, const rclcpp::SubscriptionOptions options): Subscribe to an image topic, version for bare function.

template<class T> inline Subscriber subscribe(const std::string &base_topic, uint32_t queue_size, void (T::* fp)(const ImageConstPtr&), T *obj, const TransportHints *transport_hints = nullptr): Subscribe to an image topic, version for class member function with bare pointer.

template<class T> inline Subscriber subscribe(const std::string &base_topic, uint32_t queue_size, void (T::* fp)(const ImageConstPtr&), T *obj, const TransportHints *transport_hints, const rclcpp::SubscriptionOptions options): Subscribe to an image topic, version for class member function with bare pointer.

template<class T> inline Subscriber subscribe(const std::string &base_topic, uint32_t queue_size, void (T::* fp)(const ImageConstPtr&), const std::shared_ptr<T> &obj, const TransportHints *transport_hints = nullptr): Subscribe to an image topic, version for class member function with shared_ptr.

template<class T> inline Subscriber subscribe(const std::string &base_topic, uint32_t queue_size, void (T::* fp)(const ImageConstPtr&), const std::shared_ptr<T> &obj, const TransportHints *transport_hints, const rclcpp::SubscriptionOptions options): Subscribe to an image topic, version for class member function with shared_ptr.

IMAGE_TRANSPORT_PUBLIC CameraPublisher advertiseCamera (const std::string &base_topic, uint32_t queue_size, bool latch=false): Advertise a synchronized camera raw image + info topic pair, simple version.

IMAGE_TRANSPORT_PUBLIC CameraSubscriber subscribeCamera (const std::string &base_topic, uint32_t queue_size, const CameraSubscriber::Callback &callback, const VoidPtr &tracked_object=VoidPtr(), const TransportHints *transport_hints=nullptr)

Advertise a synchronized camera raw image + info topic pair with subscriber status callbacks.

Subscribe to a synchronized image & camera info topic pair, version for arbitrary std::function object.

This version assumes the standard topic naming scheme, where the info topic is named “camera_info” in the same namespace as the base image topic.

inline IMAGE_TRANSPORT_PUBLIC CameraSubscriber subscribeCamera (const std::string &base_topic, uint32_t queue_size, void(*fp)(const ImageConstPtr &, const CameraInfoConstPtr &), const TransportHints *transport_hints=nullptr): Subscribe to a synchronized image & camera info topic pair, version for bare function.

template<class T> inline CameraSubscriber subscribeCamera(const std::string &base_topic, uint32_t queue_size, void (T::* fp)(const ImageConstPtr&, const CameraInfoConstPtr&), T *obj, const TransportHints *transport_hints = nullptr): Subscribe to a synchronized image & camera info topic pair, version for class member function with bare pointer.

template<class T> inline CameraSubscriber subscribeCamera(const std::string &base_topic, uint32_t queue_size, void (T::* fp)(const ImageConstPtr&, const CameraInfoConstPtr&), const std::shared_ptr<T> &obj, const TransportHints *transport_hints = nullptr): Subscribe to a synchronized image & camera info topic pair, version for class member function with shared_ptr.

IMAGE_TRANSPORT_PUBLIC std::vector< std::string > getDeclaredTransports () const: Returns the names of all transports declared in the system. Declared transports are not necessarily built or loadable.

IMAGE_TRANSPORT_PUBLIC std::vector< std::string > getLoadableTransports () const: Returns the names of all transports that are loadable in the system.