Class PublisherPlugin

Defined in File publisher_plugin.hpp

Inheritance Relationships

Derived Types

public image_transport::SimplePublisherPlugin< sensor_msgs::msg::Image > (Template Class SimplePublisherPlugin)
public image_transport::SimplePublisherPlugin< M > (Template Class SimplePublisherPlugin)

Class Documentation

class PublisherPlugin

Base class for plugins to Publisher.

Subclassed by image_transport::SimplePublisherPlugin< sensor_msgs::msg::Image >, image_transport::SimplePublisherPlugin< M >

Public Functions

PublisherPlugin() = default

PublisherPlugin(const PublisherPlugin&) = delete

PublisherPlugin &operator=(const PublisherPlugin&) = delete

inline virtual ~PublisherPlugin()

virtual std::string getTransportName() const = 0: Get a string identifier for the transport provided by this plugin.

inline void advertise(rclcpp::Node *nh, const std::string &base_topic, rmw_qos_profile_t custom_qos = rmw_qos_profile_default): Advertise a topic, simple version.

virtual size_t getNumSubscribers() const = 0: Returns the number of subscribers that are currently connected to this PublisherPlugin.

virtual std::string getTopic() const = 0: Returns the communication topic that this PublisherPlugin will publish on.

virtual void publish(const sensor_msgs::msg::Image &message) const = 0: Publish an image using the transport associated with this PublisherPlugin.

inline virtual void publishPtr(const sensor_msgs::msg::Image::ConstSharedPtr &message) const: Publish an image using the transport associated with this PublisherPlugin.

inline virtual void publishData(const sensor_msgs::msg::Image &message, const uint8_t *data) const

Publish an image using the transport associated with this PublisherPlugin. This version of the function can be used to optimize cases where you don’t want to fill a ROS message first to avoid useless copies.

Parameters:

message – an image message to use information from (but not data)
data – a pointer to the image data to use to fill the Image message

virtual void shutdown() = 0: Shutdown any advertisements associated with this PublisherPlugin.

Public Static Functions

static inline std::string getLookupName(const std::string &transport_name): Return the lookup name of the PublisherPlugin associated with a specific transport identifier.

Protected Functions

virtual void advertiseImpl(rclcpp::Node *nh, const std::string &base_topic, rmw_qos_profile_t custom_qos) = 0: Advertise a topic. Must be implemented by the subclass.