Program Listing for File raw_publisher.hpp
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// Copyright (c) 2023, Czech Technical University in Prague
// Copyright (c) 2019, paplhjak
// Copyright (c) 2009, Willow Garage, Inc.
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#ifndef POINT_CLOUD_TRANSPORT__RAW_PUBLISHER_HPP_
#define POINT_CLOUD_TRANSPORT__RAW_PUBLISHER_HPP_
#include <string>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <point_cloud_transport/simple_publisher_plugin.hpp>
#include "point_cloud_transport/visibility_control.hpp"
namespace point_cloud_transport
{
class RawPublisher
: public point_cloud_transport::SimplePublisherPlugin<sensor_msgs::msg::PointCloud2>
{
public:
virtual ~RawPublisher() {}
virtual std::string getTransportName() const
{
return "raw";
}
std::string getDataType() const override
{
return "sensor_msgs/msg/PointCloud2";
}
void declareParameters(const std::string & /*base_topic*/) override
{
}
RawPublisher::TypedEncodeResult encodeTyped(const sensor_msgs::msg::PointCloud2 & raw) const
{
return raw;
}
protected:
virtual void publish(
const sensor_msgs::msg::PointCloud2 & message,
const PublishFn & publish_fn) const
{
publish_fn(message);
}
virtual void publish(
const sensor_msgs::msg::PointCloud2::ConstSharedPtr & message_ptr,
const PublishFn & publish_fn) const
{
publish_fn(*message_ptr);
}
virtual std::string getTopicToAdvertise(const std::string & base_topic) const
{
return base_topic;
}
};
} // namespace point_cloud_transport
#endif // POINT_CLOUD_TRANSPORT__RAW_PUBLISHER_HPP_