Class PointCloudTransport

Inheritance Relationships

Base Type

Class Documentation

class PointCloudTransport : public point_cloud_transport::PointCloudTransportLoader

Public Functions

explicit POINT_CLOUD_TRANSPORT_PUBLIC PointCloudTransport(rclcpp::Node::SharedPtr node)

Constructor.

POINT_CLOUD_TRANSPORT_PUBLIC ~PointCloudTransport() override = default
inline POINT_CLOUD_TRANSPORT_PUBLIC std::string getTransportOrDefault (const TransportHints *transport_hints)
inline POINT_CLOUD_TRANSPORT_PUBLIC Publisher advertise (const std::string &base_topic, uint32_t queue_size)

Advertise a PointCloud2 topic, simple version.

inline POINT_CLOUD_TRANSPORT_PUBLIC Publisher advertise (const std::string &base_topic, uint32_t queue_size, const rclcpp::PublisherOptions &options)

Advertise a PointCloud2 topic, simple version.

inline POINT_CLOUD_TRANSPORT_PUBLIC Publisher advertise (const std::string &base_topic, rmw_qos_profile_t custom_qos, const rclcpp::PublisherOptions &options=rclcpp::PublisherOptions())
inline POINT_CLOUD_TRANSPORT_PUBLIC point_cloud_transport::Subscriber subscribe (const std::string &base_topic, rmw_qos_profile_t custom_qos, const std::function< void(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &)> &callback, const VoidPtr &tracked_object={}, const point_cloud_transport::TransportHints *transport_hints=nullptr)

Advertise an PointCloud2 topic with subscriber status callbacks.

Subscribe to a point cloud topic, version for arbitrary std::function object.

inline POINT_CLOUD_TRANSPORT_PUBLIC point_cloud_transport::Subscriber subscribe (const std::string &base_topic, uint32_t queue_size, const std::function< void(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &)> &callback, const VoidPtr &tracked_object={}, const point_cloud_transport::TransportHints *transport_hints=nullptr)

Subscribe to a point cloud topic, version for arbitrary std::function object.

inline POINT_CLOUD_TRANSPORT_PUBLIC point_cloud_transport::Subscriber subscribe (const std::string &base_topic, rmw_qos_profile_t custom_qos, void(*fp)(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &), const point_cloud_transport::TransportHints *transport_hints=nullptr)

Subscribe to a point cloud topic, version for bare function.

inline POINT_CLOUD_TRANSPORT_PUBLIC point_cloud_transport::Subscriber subscribe (const std::string &base_topic, uint32_t queue_size, void(*fp)(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &), const point_cloud_transport::TransportHints *transport_hints=nullptr)
template<class T>
inline point_cloud_transport::Subscriber subscribe(const std::string &base_topic, rmw_qos_profile_t custom_qos, void (T::* fp)(const sensor_msgs::msg::PointCloud2::ConstSharedPtr&) const, T *obj, const point_cloud_transport::TransportHints *transport_hints = nullptr, bool allow_concurrent_callbacks = false)

Subscribe to a point cloud topic, version for class member function with bare pointer.

template<class T>
inline point_cloud_transport::Subscriber subscribe(const std::string &base_topic, uint32_t queue_size, void (T::* fp)(const sensor_msgs::msg::PointCloud2::ConstSharedPtr&) const, T *obj, const point_cloud_transport::TransportHints *transport_hints = nullptr, bool allow_concurrent_callbacks = false)
template<class T>
inline point_cloud_transport::Subscriber subscribe(const std::string &base_topic, rmw_qos_profile_t custom_qos, void (T::* fp)(const sensor_msgs::msg::PointCloud2::ConstSharedPtr&) const, const std::shared_ptr<T> &obj, const point_cloud_transport::TransportHints *transport_hints = nullptr)

Subscribe to a point cloud topic, version for class member function with shared_ptr.

template<class T>
inline point_cloud_transport::Subscriber subscribe(const std::string &base_topic, uint32_t queue_size, void (T::* fp)(const sensor_msgs::msg::PointCloud2::ConstSharedPtr&) const, const std::shared_ptr<T> &obj, const point_cloud_transport::TransportHints *transport_hints = nullptr)