Publish consumed data on a ROS topic. More...

#include <publisher.h>

Inheritance diagram for fkie_message_filters::Publisher< M, Translate >:

Public Member Functions
void	advertise (ros::NodeHandle &nh, const std::string &topic, uint32_t queue_size, bool latch=false, ros::CallbackQueueInterface *callback_queue=nullptr) noexcept
	Advertise ROS topic. More...

void	advertise (ros::NodeHandle &nh, const std::string &topic, uint32_t queue_size, const ros::SubscriberStatusCallback &connect_cb, const ros::SubscriberStatusCallback &disconnect_cb=ros::SubscriberStatusCallback(), const ros::VoidConstPtr &tracked_object=ros::VoidConstPtr(), bool latch=false, ros::CallbackQueueInterface *callback_queue=nullptr) noexcept
	Advertise ROS topic with subscriber status callbacks. More...

virtual bool	is_active () const noexcept override
	Check if the ROS publisher has at least one subscriber. More...

	Publisher () noexcept
	Constructs an empty publisher. More...

	Publisher (ros::NodeHandle &nh, const std::string &topic, uint32_t queue_size, bool latch=false, ros::CallbackQueueInterface *callback_queue=nullptr) noexcept
	Constructor that advertises the given ROS topic. More...

virtual std::string	topic () const noexcept override
	Return the configured ROS topic. More...

Public Member Functions inherited from fkie_message_filters::PublisherBase
virtual	~PublisherBase ()

Public Member Functions inherited from fkie_message_filters::Sink< Translate< M >::FilterType >
Connection	connect_to_source (Source< Inputs... > &src) noexcept
	Connect this sink to a source. More...

virtual void	disconnect () noexcept override
	Disconnect from all connected sources. More...

void	disconnect_from_all_sources () noexcept
	Disconnect from all connected sources. More...

virtual	~Sink ()

Public Member Functions inherited from fkie_message_filters::FilterBase
virtual void	reset () noexcept
	Reset filter state. More...

virtual	~FilterBase ()

Private Member Functions
virtual void	receive (const typename Translate< M >::FilterType &t) noexcept override

Private Attributes
ros::Publisher	pub_

Additional Inherited Members
Public Types inherited from fkie_message_filters::Sink< Translate< M >::FilterType >
using	Input = IO< Inputs... >
	Grouped input types. More...

Static Public Attributes inherited from fkie_message_filters::Sink< Translate< M >::FilterType >
static constexpr std::size_t	NUM_INPUTS
	Number of input arguments. More...

Protected Member Functions inherited from fkie_message_filters::PublisherBase
std::tuple< boost::signals2::connection, boost::signals2::connection >	link_with_subscriber (SubscriberBase &sub)
	Add a new subscriber that will be controlled by this publisher. More...

void	update_subscriber_state ()
	Cause all linked subscribers to subscribe or unsubscribe to their ROS topics. More...

Protected Member Functions inherited from fkie_message_filters::Sink< Translate< M >::FilterType >
virtual void	receive (const Inputs &... in)=0
	Process incoming data. More...

Detailed Description

template<class M, template< typename > class Translate = RosMessageEvent>
class fkie_message_filters::Publisher< M, Translate >

Publish consumed data on a ROS topic.

This class together with the Subscriber class is the generic interface between ROS and this library. All messages which are received from the connected sources will be published on the advertised ROS topic. For maximum flexibility, you can choose one of four ways how to receive messages from your sources:

Publisher<M, RosMessageEvent> will act as a sink of ros::MessageEvent<const M> objects (default)
Publisher<M, RosMessageConstPtr> will act as a sink of M::ConstPtr objects (as of this writing, this is a boost::shared_ptr<const M>)
Publisher<M, RosMessageStdSharedPtr> will act as a sink of std::shared_ptr<const M> objects
Publisher<M, RosMessage> will act as a sink of plain M objects

Unlike regular ROS publishers, this class can be associated with one or more subscriber instances. In that case, the subscribers will subscribe to their ROS topics only if the publisher is actively used. This is a convenient method to save processing power if the filter pipeline is used only intermittently.

See also: CameraPublisher, ImagePublisher

Definition at line 51 of file publisher.h.

Constructor & Destructor Documentation

◆ Publisher() [1/2]

template<class M , template< typename > class Translate>

fkie_message_filters::Publisher< M, Translate >::Publisher ( )

noexcept

Constructs an empty publisher.

You need to call advertise() to actually publish to a ROS topic.

Definition at line 30 of file publisher_impl.h.

◆ Publisher() [2/2]

template<class M , template< typename > class Translate>

fkie_message_filters::Publisher< M, Translate >::Publisher	(	ros::NodeHandle &	nh,
		const std::string &	topic,
		uint32_t	queue_size,
		bool	latch = `false`,
		ros::CallbackQueueInterface *	callback_queue = `nullptr`
	)

noexcept

Constructor that advertises the given ROS topic.

The constructor calls advertise() for you.

Definition at line 35 of file publisher_impl.h.

Member Function Documentation

◆ advertise() [1/2]

template<class M , template< typename > class Translate>

void fkie_message_filters::Publisher< M, Translate >::advertise	(	ros::NodeHandle &	nh,
		const std::string &	topic,
		uint32_t	queue_size,
		bool	latch = `false`,
		ros::CallbackQueueInterface *	callback_queue = `nullptr`
	)

noexcept

Advertise ROS topic.

All arguments are passed to the ROS client library; see the ROS documentation for further information. Calling this method will automatically unadvertise any previously advertised ROS topic.

nh ROS node handle to create the ROS advertisement
topic name of the ROS topic, subject to remapping
queue_size size of the ROS publishing queue
latch if true, the last published message remains available for later subscribers
callback_queue custom ROS callback queue

Definition at line 53 of file publisher_impl.h.

◆ advertise() [2/2]

template<class M , template< typename > class Translate>

void fkie_message_filters::Publisher< M, Translate >::advertise	(	ros::NodeHandle &	nh,
		const std::string &	topic,
		uint32_t	queue_size,
		const ros::SubscriberStatusCallback &	connect_cb,
		const ros::SubscriberStatusCallback &	disconnect_cb = `ros::SubscriberStatusCallback()`,
		const ros::VoidConstPtr &	tracked_object = `ros::VoidConstPtr()`,
		bool	latch = `false`,
		ros::CallbackQueueInterface *	callback_queue = `nullptr`
	)

noexcept

Advertise ROS topic with subscriber status callbacks.

All arguments are passed to the ROS client library; see the ROS documentation for further information. Calling this method will automatically unadvertise any previously advertised ROS topic.

nh ROS node handle to create the ROS advertisement
topic name of the ROS topic, subject to remapping
queue_size size of the ROS publishing queue
connect_cb callback that is invoked each time a new subscriber connects to the advertised topic
disconnect_cb callback that is invoked each time an existing subscriber disconnects from the advertised topic
tracked_object an associated object whose lifetime will limit the lifetime of the advertised topic
latch if true, the last published message remains available for later subscribers
callback_queue custom ROS callback queue

Definition at line 73 of file publisher_impl.h.

◆ is_active()

template<class M , template< typename > class Translate>

bool fkie_message_filters::Publisher< M, Translate >::is_active ( ) const

overridevirtualnoexcept

Check if the ROS publisher has at least one subscriber.

Implements fkie_message_filters::PublisherBase.

Definition at line 41 of file publisher_impl.h.

◆ receive()

template<class M , template< typename > class Translate>

void fkie_message_filters::Publisher< M, Translate >::receive ( const typename Translate< M >::FilterType & t )

overrideprivatevirtualnoexcept

Definition at line 96 of file publisher_impl.h.

◆ topic()

template<class M , template< typename > class Translate>

std::string fkie_message_filters::Publisher< M, Translate >::topic ( ) const

overridevirtualnoexcept

Return the configured ROS topic.

Implements fkie_message_filters::PublisherBase.

Definition at line 47 of file publisher_impl.h.

Member Data Documentation

◆ pub_

template<class M, template< typename > class Translate = RosMessageEvent>

ros::Publisher fkie_message_filters::Publisher< M, Translate >::pub_

private

Definition at line 114 of file publisher.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

template<class M, template< typename > class Translate = RosMessageEvent> class fkie_message_filters::Publisher< M, Translate >

Constructor & Destructor Documentation

◆ Publisher() [1/2]

◆ Publisher() [2/2]

Member Function Documentation

◆ advertise() [1/2]

◆ advertise() [2/2]

◆ is_active()

◆ receive()

◆ topic()

Member Data Documentation

◆ pub_

template<class M, template< typename > class Translate = RosMessageEvent>
class fkie_message_filters::Publisher< M, Translate >