Program Listing for File raw_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:
//
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//      notice, this list of conditions and the following disclaimer.
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//    * Redistributions in binary form must reproduce the above copyright
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//      documentation and/or other materials provided with the distribution.
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//      contributors may be used to endorse or promote products derived from
//      this software without specific prior written permission.
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#ifndef IMAGE_TRANSPORT__RAW_PUBLISHER_HPP_
#define IMAGE_TRANSPORT__RAW_PUBLISHER_HPP_

#include <string>

#include "sensor_msgs/msg/image.hpp"

#include "image_transport/simple_publisher_plugin.hpp"
#include "image_transport/visibility_control.hpp"

namespace image_transport
{

class RawPublisher : public SimplePublisherPlugin<sensor_msgs::msg::Image>
{
public:
  virtual ~RawPublisher() {}

  virtual std::string getTransportName() const
  {
    return "raw";
  }

protected:
  virtual void publish(const sensor_msgs::msg::Image & message, const PublishFn & publish_fn) const
  {
    publish_fn(message);
  }

  virtual std::string getTopicToAdvertise(const std::string & base_topic) const
  {
    return base_topic;
  }
};

}  // namespace image_transport

#endif  // IMAGE_TRANSPORT__RAW_PUBLISHER_HPP_