Template Class SimplePublisherPlugin

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

Class Documentation

template<class M>
class SimplePublisherPlugin : public point_cloud_transport::PublisherPlugin

Base class to simplify implementing most plugins to Publisher.

This base class vastly simplifies implementing a PublisherPlugin in the common case that all communication with the matching SubscriberPlugin happens over a single ROS topic using a transport-specific message type. SimplePublisherPlugin is templated on the transport-specific message type and publisher dynamic reconfigure type.

A subclass needs to implement:

Template Parameters:

M – Type of the published messages.

Public Types

typedef tl::expected<std::optional<M>, std::string> TypedEncodeResult

Result of cloud encoding. Either the compressed cloud message, empty value, or error message.

Public Functions

inline ~SimplePublisherPlugin()
inline rclcpp::Logger getLogger() const
template<typename T>
inline bool getParam(const std::string &parameter_name, T &value) const

template function for getting parameter of a given type

template<typename T>
inline bool declareParam(const std::string parameter_name, const T value, const rcl_interfaces::msg::ParameterDescriptor &parameter_descriptor = rcl_interfaces::msg::ParameterDescriptor())
inline void setParamCallback(rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType param_change_callback)
inline virtual uint32_t getNumSubscribers() const override

Returns the number of subscribers that are currently connected to this PublisherPlugin.

inline virtual std::string getTopic() const override

Returns the topic that this PublisherPlugin will publish on.

inline virtual void publish(const sensor_msgs::msg::PointCloud2 &message) const override

Publish a point cloud using the transport associated with this PublisherPlugin.

inline virtual void shutdown() override

Shutdown any advertisements associated with this PublisherPlugin.

virtual TypedEncodeResult encodeTyped(const sensor_msgs::msg::PointCloud2 &raw) const = 0

Encode the given raw pointcloud into a compressed message.

Parameters:

raw – [in] The input raw pointcloud.

Returns:

The output rmw serialized msg holding the compressed cloud message (if encoding succeeds), or an error message.

inline virtual EncodeResult encode(const sensor_msgs::msg::PointCloud2 &raw) const override

Encode the given raw pointcloud into EncodeResult.

Parameters:

raw – [in] The input raw pointcloud.

Returns:

The output EncodeResult holding the compressed cloud message (if encoding succeeds), or an error message.

Protected Types

typedef std::function<void(const M&)> PublishFn

Generic function for publishing the internal message type.

Protected Functions

inline virtual void advertiseImpl(std::shared_ptr<rclcpp::Node> node, const std::string &base_topic, rmw_qos_profile_t custom_qos, const rclcpp::PublisherOptions &options)

Advertise a topic. Must be implemented by the subclass.

inline virtual void publish(const sensor_msgs::msg::PointCloud2 &message, const PublishFn &publish_fn) const

Publish a point cloud using the specified publish function.

The PublishFn publishes the transport-specific message type. This indirection allows SimplePublisherPlugin 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 override

Return the communication topic name for a given base topic.

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

Protected Attributes

std::string base_topic_