Program Listing for File camera_publisher.hpp
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// Copyright (c) 2009, Willow Garage, Inc.
//
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// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// * Neither the name of the Willow Garage nor the names of its
// contributors may be used to endorse or promote products derived from
// this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef IMAGE_TRANSPORT__CAMERA_PUBLISHER_HPP_
#define IMAGE_TRANSPORT__CAMERA_PUBLISHER_HPP_
#include <memory>
#include <string>
#include "rclcpp/macros.hpp"
#include "rclcpp/node.hpp"
#include "sensor_msgs/msg/image.hpp"
#include "sensor_msgs/msg/camera_info.hpp"
#include "image_transport/single_subscriber_publisher.hpp"
#include "image_transport/visibility_control.hpp"
namespace image_transport
{
class ImageTransport;
class CameraPublisher
{
public:
IMAGE_TRANSPORT_PUBLIC
CameraPublisher() = default;
IMAGE_TRANSPORT_PUBLIC
CameraPublisher(
rclcpp::Node * node,
const std::string & base_topic,
rmw_qos_profile_t custom_qos = rmw_qos_profile_default);
// TODO(ros2) Restore support for SubscriberStatusCallbacks when available.
IMAGE_TRANSPORT_PUBLIC
size_t getNumSubscribers() const;
IMAGE_TRANSPORT_PUBLIC
std::string getTopic() const;
IMAGE_TRANSPORT_PUBLIC
std::string getInfoTopic() const;
IMAGE_TRANSPORT_PUBLIC
void publish(
const sensor_msgs::msg::Image & image,
const sensor_msgs::msg::CameraInfo & info) const;
IMAGE_TRANSPORT_PUBLIC
void publish(
const sensor_msgs::msg::Image::ConstSharedPtr & image,
const sensor_msgs::msg::CameraInfo::ConstSharedPtr & info) const;
IMAGE_TRANSPORT_PUBLIC
void publish(
sensor_msgs::msg::Image & image, sensor_msgs::msg::CameraInfo & info,
rclcpp::Time stamp) const;
IMAGE_TRANSPORT_PUBLIC
void shutdown();
IMAGE_TRANSPORT_PUBLIC
operator void *() const;
IMAGE_TRANSPORT_PUBLIC
bool operator<(const CameraPublisher & rhs) const {return impl_ < rhs.impl_;}
IMAGE_TRANSPORT_PUBLIC
bool operator!=(const CameraPublisher & rhs) const {return impl_ != rhs.impl_;}
IMAGE_TRANSPORT_PUBLIC
bool operator==(const CameraPublisher & rhs) const {return impl_ == rhs.impl_;}
private:
struct Impl;
std::shared_ptr<Impl> impl_;
};
} // namespace image_transport
#endif // IMAGE_TRANSPORT__CAMERA_PUBLISHER_HPP_