Class RawPublisher

Defined in File raw_publisher.hpp

Inheritance Relationships

Base Type

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

Class Documentation

class RawPublisher : public image_transport::SimplePublisherPlugin<sensor_msgs::msg::Image>

The default PublisherPlugin.

RawPublisher is a simple wrapper for ros::Publisher, publishing unaltered Image messages on the base topic.

Public Functions

inline virtual ~RawPublisher()

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

Protected Functions

inline virtual void publish(const sensor_msgs::msg::Image &message, const PublishFn &publish_fn) const

Publish an image using the specified publish function. Must be implemented by the subclass.

The PublishFn publishes the transport-specific message type. This indirection allows SimpleSubscriberPlugin to use this function for both normal broadcast publishing and single subscriber publishing (in subscription callbacks).

inline virtual std::string getTopicToAdvertise(const std::string &base_topic) const

Return the communication topic name for a given base topic.

Defaults to <base topic>/<transport name>.