dai::ros::BridgePublisher< RosMsg, SimMsg > Class Template Reference

#include <BridgePublisher.hpp>

Public Types
using	ConvertFunc = std::function< void(std::shared_ptr< SimMsg >, std::deque< RosMsg > &)>
using	CustomPublisher = typename std::conditional< std::is_same< RosMsg, ImageMsgs::Image >::value, std::shared_ptr< image_transport::Publisher >, std::shared_ptr< rosOrigin::Publisher > >::type

Public Member Functions
void	addPublisherCallback ()
std::shared_ptr< image_transport::Publisher >	advertise (int queueSize, std::true_type)
std::shared_ptr< rosOrigin::Publisher >	advertise (int queueSize, std::false_type)
	BridgePublisher (std::shared_ptr< dai::DataOutputQueue > daiMessageQueue, rosOrigin::NodeHandle nh, std::string rosTopic, ConvertFunc converter, int queueSize, std::string cameraParamUri="", std::string cameraName="")
	BridgePublisher (std::shared_ptr< dai::DataOutputQueue > daiMessageQueue, rosOrigin::NodeHandle nh, std::string rosTopic, ConvertFunc converter, int queueSize, ImageMsgs::CameraInfo cameraInfoData, std::string cameraName)
	BridgePublisher (const BridgePublisher &other)
void	publishHelper (std::shared_ptr< SimMsg > inData)
void	startPublisherThread ()
	~BridgePublisher ()

Private Member Functions
void	daiCallback (std::string name, std::shared_ptr< ADatatype > data)

Private Attributes
ImageMsgs::CameraInfo	_cameraInfoData
std::shared_ptr< rosOrigin::Publisher >	_cameraInfoPublisher
std::string	_cameraName
std::string	_cameraParamUri
std::string	_camInfoFrameId
std::unique_ptr< camera_info_manager::CameraInfoManager >	_camInfoManager
ConvertFunc	_converter
std::shared_ptr< dai::DataOutputQueue >	_daiMessageQueue
bool	_isCallbackAdded = false
bool	_isImageMessage = false
image_transport::ImageTransport	_it
rosOrigin::NodeHandle	_nh
std::thread	_readingThread
CustomPublisher	_rosPublisher
std::string	_rosTopic

Static Private Attributes
static const std::string	LOG_TAG = "BridgePublisher"

Detailed Description

template<class RosMsg, class SimMsg>
class dai::ros::BridgePublisher< RosMsg, SimMsg >

Definition at line 50 of file BridgePublisher.hpp.

Member Typedef Documentation

ConvertFunc

template<class RosMsg , class SimMsg >

using dai::ros::BridgePublisher< RosMsg, SimMsg >::ConvertFunc = std::function<void(std::shared_ptr<SimMsg>, std::deque<RosMsg>&)>

Definition at line 52 of file BridgePublisher.hpp.

CustomPublisher

template<class RosMsg , class SimMsg >

using dai::ros::BridgePublisher< RosMsg, SimMsg >::CustomPublisher = typename std:: conditional<std::is_same<RosMsg, ImageMsgs::Image>::value, std::shared_ptr<image_transport::Publisher>, std::shared_ptr<rosOrigin::Publisher> >::type

Definition at line 92 of file BridgePublisher.hpp.

Constructor & Destructor Documentation

BridgePublisher() [1/3]

template<class RosMsg , class SimMsg >

dai::ros::BridgePublisher< RosMsg, SimMsg >::BridgePublisher	(	std::shared_ptr< dai::DataOutputQueue >	daiMessageQueue,
		rosOrigin::NodeHandle	nh,
		std::string	rosTopic,
		ConvertFunc	converter,
		int	queueSize,
		std::string	cameraParamUri = "",
		std::string	cameraName = ""
	)

Definition at line 233 of file BridgePublisher.hpp.

BridgePublisher() [2/3]

template<class RosMsg , class SimMsg >

dai::ros::BridgePublisher< RosMsg, SimMsg >::BridgePublisher	(	std::shared_ptr< dai::DataOutputQueue >	daiMessageQueue,
		rosOrigin::NodeHandle	nh,
		std::string	rosTopic,
		ConvertFunc	converter,
		int	queueSize,
		ImageMsgs::CameraInfo	cameraInfoData,
		std::string	cameraName
	)

Definition at line 252 of file BridgePublisher.hpp.

BridgePublisher() [3/3]

template<class RosMsg , class SimMsg >

dai::ros::BridgePublisher< RosMsg, SimMsg >::BridgePublisher

(

const BridgePublisher< RosMsg, SimMsg > &

other

)

Definition at line 289 of file BridgePublisher.hpp.

~BridgePublisher()

template<class RosMsg , class SimMsg >

dai::ros::BridgePublisher< RosMsg, SimMsg >::~BridgePublisher

(

)

Definition at line 394 of file BridgePublisher.hpp.

Member Function Documentation

addPublisherCallback()

template<class RosMsg , class SimMsg >

void dai::ros::BridgePublisher< RosMsg, SimMsg >::addPublisherCallback

(

)

Definition at line 345 of file BridgePublisher.hpp.

advertise() [1/2]

template<class RosMsg , class SimMsg >

std::shared_ptr< image_transport::Publisher > dai::ros::BridgePublisher< RosMsg, SimMsg >::advertise	(	int	queueSize,
		std::true_type
	)

Tag Dispacher function to to overload the Publisher to ImageTransport Publisher

Definition at line 276 of file BridgePublisher.hpp.

advertise() [2/2]

template<class RosMsg , class SimMsg >

std::shared_ptr< rosOrigin::Publisher > dai::ros::BridgePublisher< RosMsg, SimMsg >::advertise	(	int	queueSize,
		std::false_type
	)

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

Definition at line 271 of file BridgePublisher.hpp.

daiCallback()

template<class RosMsg , class SimMsg >

void dai::ros::BridgePublisher< RosMsg, SimMsg >::daiCallback ( std::string  name, std::shared_ptr< ADatatype >  data  )

private

adding this callback will allow you to still be able to consume the data for other processing using get() function .

Definition at line 306 of file BridgePublisher.hpp.

publishHelper()

template<class RosMsg , class SimMsg >

void dai::ros::BridgePublisher< RosMsg, SimMsg >::publishHelper

(

std::shared_ptr< SimMsg >

inData

)

Definition at line 351 of file BridgePublisher.hpp.

startPublisherThread()

template<class RosMsg , class SimMsg >

void dai::ros::BridgePublisher< RosMsg, SimMsg >::startPublisherThread

(

)

Definition at line 313 of file BridgePublisher.hpp.

Member Data Documentation

_cameraInfoData

template<class RosMsg , class SimMsg >

ImageMsgs::CameraInfo dai::ros::BridgePublisher< RosMsg, SimMsg >::_cameraInfoData

private

Definition at line 152 of file BridgePublisher.hpp.

_cameraInfoPublisher

template<class RosMsg , class SimMsg >

std::shared_ptr<rosOrigin::Publisher> dai::ros::BridgePublisher< RosMsg, SimMsg >::_cameraInfoPublisher

private

Definition at line 148 of file BridgePublisher.hpp.

_cameraName

template<class RosMsg , class SimMsg >

std::string dai::ros::BridgePublisher< RosMsg, SimMsg >::_cameraName

private

Definition at line 156 of file BridgePublisher.hpp.

_cameraParamUri

template<class RosMsg , class SimMsg >

std::string dai::ros::BridgePublisher< RosMsg, SimMsg >::_cameraParamUri

private

Definition at line 156 of file BridgePublisher.hpp.

_camInfoFrameId

template<class RosMsg , class SimMsg >

std::string dai::ros::BridgePublisher< RosMsg, SimMsg >::_camInfoFrameId

private

Definition at line 156 of file BridgePublisher.hpp.

_camInfoManager

template<class RosMsg , class SimMsg >

std::unique_ptr<camera_info_manager::CameraInfoManager> dai::ros::BridgePublisher< RosMsg, SimMsg >::_camInfoManager

private

Definition at line 157 of file BridgePublisher.hpp.

_converter

template<class RosMsg , class SimMsg >

ConvertFunc dai::ros::BridgePublisher< RosMsg, SimMsg >::_converter

private

Definition at line 141 of file BridgePublisher.hpp.

_daiMessageQueue

template<class RosMsg , class SimMsg >

std::shared_ptr<dai::DataOutputQueue> dai::ros::BridgePublisher< RosMsg, SimMsg >::_daiMessageQueue

private

Definition at line 140 of file BridgePublisher.hpp.

_isCallbackAdded

template<class RosMsg , class SimMsg >

bool dai::ros::BridgePublisher< RosMsg, SimMsg >::_isCallbackAdded = false

private

Definition at line 158 of file BridgePublisher.hpp.

_isImageMessage

template<class RosMsg , class SimMsg >

bool dai::ros::BridgePublisher< RosMsg, SimMsg >::_isImageMessage = false

private

Definition at line 159 of file BridgePublisher.hpp.

_it

template<class RosMsg , class SimMsg >

image_transport::ImageTransport dai::ros::BridgePublisher< RosMsg, SimMsg >::_it

private

Definition at line 151 of file BridgePublisher.hpp.

_nh

template<class RosMsg , class SimMsg >

rosOrigin::NodeHandle dai::ros::BridgePublisher< RosMsg, SimMsg >::_nh

private

Definition at line 147 of file BridgePublisher.hpp.

_readingThread

template<class RosMsg , class SimMsg >

std::thread dai::ros::BridgePublisher< RosMsg, SimMsg >::_readingThread

private

Definition at line 155 of file BridgePublisher.hpp.

_rosPublisher

template<class RosMsg , class SimMsg >

CustomPublisher dai::ros::BridgePublisher< RosMsg, SimMsg >::_rosPublisher

private

Definition at line 153 of file BridgePublisher.hpp.

_rosTopic

template<class RosMsg , class SimMsg >

std::string dai::ros::BridgePublisher< RosMsg, SimMsg >::_rosTopic

private

Definition at line 156 of file BridgePublisher.hpp.

LOG_TAG

template<class RosMsg , class SimMsg >

const std::string dai::ros::BridgePublisher< RosMsg, SimMsg >::LOG_TAG = "BridgePublisher"

staticprivate

Definition at line 139 of file BridgePublisher.hpp.

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

• BridgePublisher.hpp