Template Class BridgePublisher

Class Documentation

template<class RosMsg, class DaiMsg>
class BridgePublisher

Public Types

using ConvertFunc = std::function<void(std::shared_ptr<DaiMsg>, std::deque<RosMsg>&)>
using CustomPublisher = std::conditional_t<std::is_same_v<RosMsg, ImageMsgs::Image>, std::shared_ptr<image_transport::CameraPublisher>, std::conditional_t<std::is_same_v<RosMsg, geometry_msgs::msg::TransformStamped>, std::shared_ptr<tf2_ros::TransformBroadcaster>, typename rclcpp::Publisher<RosMsg>::SharedPtr>>

Public Functions

BridgePublisher(std::shared_ptr<dai::MessageQueue> daiMessageQueue, std::shared_ptr<rclcpp::Node> node, std::string rosTopic, ConvertFunc converter, rclcpp::QoS qosSetting = rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable(), bool lazyPublisher = true)

Constructor for BridgePublisher with default QoS settings.

Parameters:

  • daiMessageQueue – Shared pointer to the DepthAI message queue.

  • node – Shared pointer to the ROS 2 node.

  • rosTopic – The ROS topic to publish messages to.

  • converter – Function to convert DepthAI messages to ROS messages.

  • qosSetting – QoS settings for the ROS publisher.

  • lazyPublisher – Flag to enable lazy publishing.

BridgePublisher(std::shared_ptr<dai::MessageQueue> daiMessageQueue, std::shared_ptr<rclcpp::Node> node, std::string rosTopic, ConvertFunc converter, size_t qosHistoryDepth, std::string cameraParamUri = "", std::string cameraName = "", bool lazyPublisher = true)

Constructor for BridgePublisher with custom QoS history depth.

Parameters:

  • daiMessageQueue – Shared pointer to the DepthAI message queue.

  • node – Shared pointer to the ROS 2 node.

  • rosTopic – The ROS topic to publish messages to.

  • converter – Function to convert DepthAI messages to ROS messages.

  • qosHistoryDepth – History depth for the QoS settings.

  • cameraParamUri – URI for the camera parameters.

  • cameraName – Name of the camera.

  • lazyPublisher – Flag to enable lazy publishing.

BridgePublisher(std::shared_ptr<dai::MessageQueue> daiMessageQueue, std::shared_ptr<rclcpp::Node> node, std::string rosTopic, ConvertFunc converter, size_t qosHistoryDepth, ImageMsgs::CameraInfo cameraInfoData, std::string cameraName, bool lazyPublisher = true)

Constructor for BridgePublisher with custom camera info data.

Parameters:

  • daiMessageQueue – Shared pointer to the DepthAI message queue.

  • node – Shared pointer to the ROS 2 node.

  • rosTopic – The ROS topic to publish messages to.

  • converter – Function to convert DepthAI messages to ROS messages.

  • qosHistoryDepth – History depth for the QoS settings.

  • cameraInfoData – Camera info data for the ROS messages.

  • cameraName – Name of the camera.

  • lazyPublisher – Flag to enable lazy publishing.

std::shared_ptr<image_transport::CameraPublisher> advertise(int queueSize, std::true_type)

Tag Dispacher function to to overload the Publisher to ImageTransport Publisher

rclcpp::Publisher<RosMsg>::SharedPtr advertise(int queueSize, std::false_type)

Tag Dispacher function to to overload the Publisher to use Default ros::Publisher

BridgePublisher(const BridgePublisher &other)
void addPublisherCallback()
inline void enableTransformPub()
void publishHelper(std::shared_ptr<DaiMsg> inData)
void startPublisherThread()
~BridgePublisher()