Manage image requests from one or more clients. More...

#include <publication_server.h>

Public Types
typedef boost::function< void(polled_camera::GetPolledImage::Request &, polled_camera::GetPolledImage::Response &, sensor_msgs::Image &, sensor_msgs::CameraInfo &)>	DriverCallback
Public Member Functions
std::string	getService () const
	operator void * () const
bool	operator!= (const PublicationServer &rhs) const
bool	operator< (const PublicationServer &rhs) const
bool	operator== (const PublicationServer &rhs) const
	PublicationServer ()
void	shutdown ()
	Unadvertise the request service and shut down all published topics.
Private Member Functions
	PublicationServer (const std::string &service, ros::NodeHandle &nh, const DriverCallback &cb, const ros::VoidPtr &tracked_object)
Private Attributes
boost::shared_ptr< Impl >	impl_
Friends
PublicationServer	advertise (ros::NodeHandle &, const std::string &, const DriverCallback &, const ros::VoidPtr &)
	Advertise a polled image service, version for arbitrary boost::function object.

Detailed Description

Manage image requests from one or more clients.

Instances of polled_camera::PublicationServer should be created using one of the overloads of polled_camera::advertise(). You must specify a driver callback that populates the requested data:

void callback(polled_camera::GetPolledImage::Request& req,
              polled_camera::GetPolledImage::Response& rsp,
              sensor_msgs::Image& image, sensor_msgs::CameraInfo& info)
{
  // Capture an image and fill in the Image and CameraInfo messages here.
  
  // On success, set rsp.success = true. rsp.timestamp will be filled in
  // automatically.
  
  // On failure, set rsp.success = false and fill rsp.status_message with an
  // informative error message.
}

Definition at line 66 of file publication_server.h.

Member Typedef Documentation

typedef boost::function<void (polled_camera::GetPolledImage::Request&, polled_camera::GetPolledImage::Response&, sensor_msgs::Image&, sensor_msgs::CameraInfo&)> polled_camera::PublicationServer::DriverCallback

Definition at line 72 of file publication_server.h.

Constructor & Destructor Documentation

polled_camera::PublicationServer::PublicationServer ( ) [inline]

Definition at line 74 of file publication_server.h.

polled_camera::PublicationServer::PublicationServer	(	const std::string &	service,
		ros::NodeHandle &	nh,
		const DriverCallback &	cb,
		const ros::VoidPtr &	tracked_object
	)		`[private]`

Definition at line 129 of file publication_server.cpp.

Member Function Documentation

std::string polled_camera::PublicationServer::getService ( ) const

Definition at line 143 of file publication_server.cpp.

polled_camera::PublicationServer::operator void * ( ) const

Definition at line 149 of file publication_server.cpp.

bool polled_camera::PublicationServer::operator!= ( const PublicationServer & rhs ) const [inline]

Definition at line 86 of file publication_server.h.

bool polled_camera::PublicationServer::operator< ( const PublicationServer & rhs ) const [inline]

Definition at line 84 of file publication_server.h.

bool polled_camera::PublicationServer::operator== ( const PublicationServer & rhs ) const [inline]

Definition at line 85 of file publication_server.h.

void polled_camera::PublicationServer::shutdown ( )

Unadvertise the request service and shut down all published topics.

Definition at line 138 of file publication_server.cpp.

Friends And Related Function Documentation

PublicationServer advertise	(	ros::NodeHandle &	nh,
		const std::string &	service,
		const DriverCallback &	cb,
		const ros::VoidPtr &	tracked_object = `ros::VoidPtr()`
	)		`[friend]`

Advertise a polled image service, version for arbitrary boost::function object.

Member Data Documentation

boost::shared_ptr<Impl> polled_camera::PublicationServer::impl_ [private]

Definition at line 92 of file publication_server.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Private Member Functions