compressed_publisher.h
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00034 
00035 #include "image_transport/simple_publisher_plugin.h"
00036 #include <sensor_msgs/CompressedImage.h>
00037 #include <dynamic_reconfigure/server.h>
00038 #include <compressed_image_transport/CompressedPublisherConfig.h>
00039 
00040 namespace compressed_image_transport {
00041 
00042 class CompressedPublisher : public image_transport::SimplePublisherPlugin<sensor_msgs::CompressedImage>
00043 {
00044 public:
00045   virtual ~CompressedPublisher() {}
00046 
00047   virtual std::string getTransportName() const
00048   {
00049     return "compressed";
00050   }
00051 
00052 protected:
00053   // Overridden to set up reconfigure server
00054   virtual void advertiseImpl(ros::NodeHandle &nh, const std::string &base_topic, uint32_t queue_size,
00055                              const image_transport::SubscriberStatusCallback  &user_connect_cb,
00056                              const image_transport::SubscriberStatusCallback  &user_disconnect_cb,
00057                              const ros::VoidPtr &tracked_object, bool latch);
00058   
00059   virtual void publish(const sensor_msgs::Image& message,
00060                        const PublishFn& publish_fn) const;
00061 
00062   typedef compressed_image_transport::CompressedPublisherConfig Config;
00063   typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
00064   boost::shared_ptr<ReconfigureServer> reconfigure_server_;
00065   Config config_;
00066 
00067   void configCb(Config& config, uint32_t level);
00068 };
00069 
00070 } //namespace compressed_image_transport


compressed_image_transport
Author(s): Patrick Mihelich, Julius Kammerl
autogenerated on Fri Aug 28 2015 11:08:23