publisher.h

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/*
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 *     contributors may be used to endorse or promote products derived
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 * $Id: publisher.h 33238 2010-03-11 00:46:58Z rusu $
 *
 */
#ifndef PCL_ROS_PUBLISHER_H_
#define PCL_ROS_PUBLISHER_H_
 
#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl/conversions.h>
 
#include <pcl_conversions/pcl_conversions.h>
 
namespace pcl_ros 
{
  class BasePublisher
  {
    public:
      void 
        advertise (ros::NodeHandle& nh, const std::string& topic, uint32_t queue_size)
      {
        pub_ = nh.advertise<sensor_msgs::PointCloud2>(topic, queue_size);
      }
 
      std::string 
        getTopic ()
      {
        return (pub_.getTopic ());
      }
 
      uint32_t 
        getNumSubscribers () const
      {
        return (pub_.getNumSubscribers ());
      }
 
      void 
        shutdown ()
      {
        pub_.shutdown ();
      }
 
      operator void*() const
      {
        return (pub_) ? (void*)1 : (void*)0; 
      }
 
    protected:
      ros::Publisher pub_;
  };
 
  template <typename PointT>
  class Publisher : public BasePublisher
  {
    public:
      Publisher () {}
 
      Publisher (ros::NodeHandle& nh, const std::string& topic, uint32_t queue_size)
      {
        advertise (nh, topic, queue_size);
      }
 
      ~Publisher () {}
 
      inline void 
        publish (const boost::shared_ptr<const pcl::PointCloud<PointT> > &point_cloud) const
      {
        publish (*point_cloud);
      }
 
      inline void 
        publish (const pcl::PointCloud<PointT>& point_cloud) const
      {
        // Fill point cloud binary data
        sensor_msgs::PointCloud2 msg;
        pcl::toROSMsg (point_cloud, msg);
        pub_.publish (boost::make_shared<const sensor_msgs::PointCloud2> (msg));
      }
  };
 
  template <>
  class Publisher<sensor_msgs::PointCloud2> : public BasePublisher
  {
    public:
      Publisher () {}
 
      Publisher (ros::NodeHandle& nh, const std::string& topic, uint32_t queue_size)
      {
        advertise (nh, topic, queue_size);
      }
 
      ~Publisher () {}
 
      void 
        publish (const sensor_msgs::PointCloud2Ptr& point_cloud) const
      {
        pub_.publish (point_cloud);
        //pub_.publish (*point_cloud);
      }
 
      void 
        publish (const sensor_msgs::PointCloud2& point_cloud) const
      {
        pub_.publish (boost::make_shared<const sensor_msgs::PointCloud2> (point_cloud));
        //pub_.publish (point_cloud);
      }
  };
}
#endif  //#ifndef PCL_ROS_PUBLISHER_H_