imagezero_publisher.h

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#include "image_transport/simple_publisher_plugin.h"
#include <sensor_msgs/CompressedImage.h>

namespace imagezero_image_transport
{

  class ImageZeroPublisher : public image_transport::SimplePublisherPlugin<sensor_msgs::CompressedImage>
  {
  public:
    ImageZeroPublisher();

    virtual ~ImageZeroPublisher()
    {}

    virtual std::string getTransportName() const
    {
      return "imagezero";
    }

  protected:
    // Overridden to set up reconfigure server
    virtual void advertiseImpl(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
                               const image_transport::SubscriberStatusCallback& user_connect_cb,
                               const image_transport::SubscriberStatusCallback& user_disconnect_cb,
                               const ros::VoidPtr& tracked_object, bool latch);

    virtual void publish(const sensor_msgs::Image& message,
                         const PublishFn& publish_fn) const;
  };

} //namespace imagezero_image_transport