image_transport::Publisher Class Reference

Manages advertisements of multiple transport options on an Image topic. More...

#include <publisher.h>

Classes
struct	Impl

Public Member Functions
uint32_t	getNumSubscribers () const
	Returns the number of subscribers that are currently connected to this Publisher. More...
std::string	getTopic () const
	Returns the base topic of this Publisher. More...
	operator void * () const
bool	operator!= (const Publisher &rhs) const
bool	operator< (const Publisher &rhs) const
bool	operator== (const Publisher &rhs) const
void	publish (const sensor_msgs::Image &message) const
	Publish an image on the topics associated with this Publisher. More...
void	publish (const sensor_msgs::ImageConstPtr &message) const
	Publish an image on the topics associated with this Publisher. More...
	Publisher ()
void	shutdown ()
	Shutdown the advertisements associated with this Publisher. More...

Private Types
typedef boost::shared_ptr< Impl >	ImplPtr
typedef boost::weak_ptr< Impl >	ImplWPtr

Private Member Functions
	Publisher (ros::NodeHandle &nh, const std::string &base_topic, uint32_t queue_size, const SubscriberStatusCallback &connect_cb, const SubscriberStatusCallback &disconnect_cb, const ros::VoidPtr &tracked_object, bool latch, const PubLoaderPtr &loader)
SubscriberStatusCallback	rebindCB (const SubscriberStatusCallback &user_cb)

Static Private Member Functions
static void	weakSubscriberCb (const ImplWPtr &impl_wptr, const SingleSubscriberPublisher &plugin_pub, const SubscriberStatusCallback &user_cb)

Private Attributes
ImplPtr	impl_

Friends
class	ImageTransport

Detailed Description

Manages advertisements of multiple transport options on an Image topic.

Publisher is a drop-in replacement for ros::Publisher when publishing Image topics. In a minimally built environment, they behave the same; however, Publisher is extensible via plugins to publish alternative representations of the image on related subtopics. This is especially useful for limiting bandwidth and latency over a network connection, when you might (for example) use the theora plugin to transport the images as streamed video. All topics are published only on demand (i.e. if there are subscribers).

A Publisher should always be created through a call to ImageTransport::advertise(), or copied from one that was. Once all copies of a specific Publisher go out of scope, any subscriber callbacks associated with that handle will stop being called. Once all Publisher for a given base topic go out of scope the topic (and all subtopics) will be unadvertised.

Definition at line 63 of file publisher.h.

Member Typedef Documentation

typedef boost::shared_ptr<Impl> image_transport::Publisher::ImplPtr

private

Definition at line 108 of file publisher.h.

typedef boost::weak_ptr<Impl> image_transport::Publisher::ImplWPtr

private

Definition at line 110 of file publisher.h.

Constructor & Destructor Documentation

image_transport::Publisher::Publisher ( )

inline

Definition at line 66 of file publisher.h.

image_transport::Publisher::Publisher ( ros::NodeHandle &  nh, const std::string &  base_topic, uint32_t  queue_size, const SubscriberStatusCallback &  connect_cb, const SubscriberStatusCallback &  disconnect_cb, const ros::VoidPtr &  tracked_object, bool  latch, const PubLoaderPtr &  loader  )

private

Definition at line 100 of file publisher.cpp.

Member Function Documentation

uint32_t image_transport::Publisher::getNumSubscribers

(

)

const

Returns the number of subscribers that are currently connected to this Publisher.

Returns the total number of subscribers to all advertised topics.

Definition at line 144 of file publisher.cpp.

std::string image_transport::Publisher::getTopic

(

)

const

Returns the base topic of this Publisher.

Definition at line 150 of file publisher.cpp.

image_transport::Publisher::operator void *

(

)

const

Definition at line 190 of file publisher.cpp.

bool image_transport::Publisher::operator!= ( const Publisher &  rhs ) const

inline

Definition at line 98 of file publisher.h.

bool image_transport::Publisher::operator< ( const Publisher &  rhs ) const

inline

Definition at line 97 of file publisher.h.

bool image_transport::Publisher::operator== ( const Publisher &  rhs ) const

inline

Definition at line 99 of file publisher.h.

void image_transport::Publisher::publish

(

const sensor_msgs::Image &

message

)

const

Publish an image on the topics associated with this Publisher.

Definition at line 156 of file publisher.cpp.

void image_transport::Publisher::publish

(

const sensor_msgs::ImageConstPtr &

message

)

const

Publish an image on the topics associated with this Publisher.

Definition at line 169 of file publisher.cpp.

SubscriberStatusCallback image_transport::Publisher::rebindCB ( const SubscriberStatusCallback &  user_cb )

private

Definition at line 203 of file publisher.cpp.

void image_transport::Publisher::shutdown

(

)

Shutdown the advertisements associated with this Publisher.

Definition at line 182 of file publisher.cpp.

void image_transport::Publisher::weakSubscriberCb ( const ImplWPtr &  impl_wptr, const SingleSubscriberPublisher &  plugin_pub, const SubscriberStatusCallback &  user_cb  )

staticprivate

Definition at line 195 of file publisher.cpp.

Friends And Related Function Documentation

friend class ImageTransport

friend

Definition at line 120 of file publisher.h.

Member Data Documentation

ImplPtr image_transport::Publisher::impl_

private

Definition at line 112 of file publisher.h.

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

• publisher.h
• publisher.cpp