Subscribe to a ROS image topic as data provider. More...
#include <image_subscriber.h>
Public Member Functions | |
ImageSubscriber () noexcept | |
Constructs an empty subscriber. More... | |
ImageSubscriber (const image_transport::ImageTransport &it, const std::string &base_topic, uint32_t queue_size, const image_transport::TransportHints &transport_hints=image_transport::TransportHints()) noexcept | |
Constructor that subscribes to the given ROS image topic. More... | |
void | set_subscribe_options (const image_transport::ImageTransport &it, const std::string &base_topic, uint32_t queue_size, const image_transport::TransportHints &transport_hints=image_transport::TransportHints()) noexcept |
Configure ROS topic that is to be subscribed. More... | |
void | subscribe (const image_transport::ImageTransport &it, const std::string &base_topic, uint32_t queue_size, const image_transport::TransportHints &transport_hints=image_transport::TransportHints()) noexcept |
Convenience function to subscribe to a ROS topic. More... | |
virtual std::string | topic () const noexcept override |
Return the subscribed topic name. More... | |
Protected Member Functions | |
virtual bool | is_configured () const noexcept override |
Check if the ROS subscriber is properly configured. More... | |
virtual void | subscribe_impl () noexcept override |
Create a ROS subscriber. More... | |
virtual void | unsubscribe_impl () noexcept override |
Shut the ROS subscriber down. More... | |
Private Member Functions | |
void | cb (const sensor_msgs::ImageConstPtr &) |
Private Attributes | |
std::string | base_topic_ |
image_transport::TransportHints | hints_ |
std::shared_ptr< image_transport::ImageTransport > | it_ |
uint32_t | queue_size_ |
image_transport::Subscriber | sub_ |
Additional Inherited Members |
Subscribe to a ROS image topic as data provider.
This is a specialized subscriber that uses image_transport to subscribe to a ROS image topic. All messages which are received on the subscribed topic will be passed to the connected sinks for further processing.
Unlike regular ROS subscribers, this class can be associated with a publisher instance. In that case, the subscriber will delay subscription until the publisher is actively used and will unsubscribe (and stop passing data) as soon as the publisher becomes idle. This is a convenient method to save processing power if the filter pipeline is used only intermittently.
Definition at line 43 of file image_subscriber.h.
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inlinenoexcept |
Constructs an empty subscriber.
You need to call set_subscribe_options() and either subscribe() or subscribe_on_demand() to actually subscribe to a ROS topic.
Definition at line 52 of file image_subscriber.h.
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noexcept |
Constructor that subscribes to the given ROS image topic.
This constructor calls set_subscribe_options() and subscribe() for you.
it
ROS image_transport instance to handle the subscription base_topic
name of the ROS image topic, subject to remapping queue_size
size of the ROS subscription queue transport_hints
transport hints for the ROS image_transport frameworkDefinition at line 26 of file image_subscriber.cpp.
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private |
Definition at line 76 of file image_subscriber.cpp.
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overrideprotectedvirtualnoexcept |
Check if the ROS subscriber is properly configured.
Implements fkie_message_filters::SubscriberBase.
Definition at line 51 of file image_subscriber.cpp.
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noexcept |
Configure ROS topic that is to be subscribed.
All arguments are passed to the ROS client library; see the ROS documentation for further information. Calling this method will automatically unsubscribe any previously subscribed ROS topic.
it
ROS image_transport instance to handle the subscription base_topic
name of the ROS image topic, subject to remapping queue_size
size of the ROS subscription queue transport_hints
transport hints for the ROS image_transport frameworkDefinition at line 32 of file image_subscriber.cpp.
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noexcept |
Convenience function to subscribe to a ROS topic.
This function is equivalent to calling set_subscribe_options() and then subscribe().
it
ROS image_transport instance to handle the subscription base_topic
name of the ROS image topic, subject to remapping queue_size
size of the ROS subscription queue transport_hints
transport hints for the ROS image_transport frameworkDefinition at line 40 of file image_subscriber.cpp.
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overrideprotectedvirtualnoexcept |
Create a ROS subscriber.
Implements fkie_message_filters::SubscriberBase.
Definition at line 56 of file image_subscriber.cpp.
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overridevirtualnoexcept |
Return the subscribed topic name.
Implements fkie_message_filters::SubscriberBase.
Definition at line 46 of file image_subscriber.cpp.
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overrideprotectedvirtualnoexcept |
Shut the ROS subscriber down.
Implements fkie_message_filters::SubscriberBase.
Definition at line 71 of file image_subscriber.cpp.
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private |
Definition at line 114 of file image_subscriber.h.
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private |
Definition at line 116 of file image_subscriber.h.
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private |
Definition at line 113 of file image_subscriber.h.
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private |
Definition at line 115 of file image_subscriber.h.
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private |
Definition at line 117 of file image_subscriber.h.