Base class for plugins to Publisher. More...

#include <publisher_plugin.h>

Inheritance diagram for image_transport::PublisherPlugin:

[legend]

Public Member Functions
void	advertise (ros::NodeHandle &nh, const std::string &base_topic, uint32_t queue_size, bool latch=true)
	Advertise a topic, simple version. More...

void	advertise (ros::NodeHandle &nh, const std::string &base_topic, uint32_t queue_size, const SubscriberStatusCallback &connect_cb, const SubscriberStatusCallback &disconnect_cb=SubscriberStatusCallback(), const ros::VoidPtr &tracked_object=ros::VoidPtr(), bool latch=true)
	Advertise a topic with subscriber status callbacks. More...

virtual uint32_t	getNumSubscribers () const =0
	Returns the number of subscribers that are currently connected to this PublisherPlugin. More...

virtual std::string	getTopic () const =0
	Returns the communication topic that this PublisherPlugin will publish on. More...

virtual std::string	getTransportName () const =0
	Get a string identifier for the transport provided by this plugin. More...

virtual void	publish (const sensor_msgs::Image &message) const =0
	Publish an image using the transport associated with this PublisherPlugin. More...

virtual void	publish (const sensor_msgs::ImageConstPtr &message) const
	Publish an image using the transport associated with this PublisherPlugin. More...

virtual void	publish (const sensor_msgs::Image &message, const uint8_t *data) const
	Publish an image using the transport associated with this PublisherPlugin. This version of the function can be used to optimize cases where you don't want to fill a ROS message first to avoid useless copies. More...

virtual void	shutdown ()=0
	Shutdown any advertisements associated with this PublisherPlugin. More...

virtual	~PublisherPlugin ()

Static Public Member Functions
static std::string	getLookupName (const std::string &transport_name)
	Return the lookup name of the PublisherPlugin associated with a specific transport identifier. More...

Protected Member Functions
virtual void	advertiseImpl (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)=0
	Advertise a topic. Must be implemented by the subclass. More...

Detailed Description

Base class for plugins to Publisher.

Definition at line 47 of file publisher_plugin.h.

Constructor & Destructor Documentation

◆ ~PublisherPlugin()

virtual image_transport::PublisherPlugin::~PublisherPlugin ( )

inlinevirtual

Definition at line 50 of file publisher_plugin.h.

Member Function Documentation

◆ advertise() [1/2]

void image_transport::PublisherPlugin::advertise	(	ros::NodeHandle &	nh,
		const std::string &	base_topic,
		uint32_t	queue_size,
		bool	latch = `true`
	)

inline

Advertise a topic, simple version.

Definition at line 61 of file publisher_plugin.h.

◆ advertise() [2/2]

void image_transport::PublisherPlugin::advertise	(	ros::NodeHandle &	nh,
		const std::string &	base_topic,
		uint32_t	queue_size,
		const SubscriberStatusCallback &	connect_cb,
		const SubscriberStatusCallback &	disconnect_cb = `SubscriberStatusCallback()`,
		const ros::VoidPtr &	tracked_object = `ros::VoidPtr()`,
		bool	latch = `true`
	)

inline

Advertise a topic with subscriber status callbacks.

Definition at line 71 of file publisher_plugin.h.

◆ advertiseImpl()

virtual void image_transport::PublisherPlugin::advertiseImpl	(	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
	)

protectedpure virtual

Advertise a topic. Must be implemented by the subclass.

Implemented in image_transport::SimplePublisherPlugin< M >, image_transport::SimplePublisherPlugin< sensor_msgs::Image >, and image_transport::SimplePublisherPlugin< image_transport_tutorial::ResizedImage >.

◆ getLookupName()

static std::string image_transport::PublisherPlugin::getLookupName ( const std::string & transport_name )

inlinestatic

Return the lookup name of the PublisherPlugin associated with a specific transport identifier.

Definition at line 133 of file publisher_plugin.h.

◆ getNumSubscribers()

virtual uint32_t image_transport::PublisherPlugin::getNumSubscribers ( ) const

pure virtual

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

Implemented in image_transport::SimplePublisherPlugin< M >, image_transport::SimplePublisherPlugin< sensor_msgs::Image >, and image_transport::SimplePublisherPlugin< image_transport_tutorial::ResizedImage >.

◆ getTopic()

virtual std::string image_transport::PublisherPlugin::getTopic ( ) const

pure virtual

Returns the communication topic that this PublisherPlugin will publish on.

Implemented in image_transport::SimplePublisherPlugin< M >, image_transport::SimplePublisherPlugin< sensor_msgs::Image >, and image_transport::SimplePublisherPlugin< image_transport_tutorial::ResizedImage >.

◆ getTransportName()

virtual std::string image_transport::PublisherPlugin::getTransportName ( ) const

pure virtual

Get a string identifier for the transport provided by this plugin.

Implemented in image_transport::RawPublisher, and ResizedPublisher.

◆ publish() [1/3]

virtual void image_transport::PublisherPlugin::publish ( const sensor_msgs::Image & message ) const

pure virtual

Publish an image using the transport associated with this PublisherPlugin.

Implemented in image_transport::SimplePublisherPlugin< M >, image_transport::SimplePublisherPlugin< sensor_msgs::Image >, and image_transport::SimplePublisherPlugin< image_transport_tutorial::ResizedImage >.

◆ publish() [2/3]

virtual void image_transport::PublisherPlugin::publish ( const sensor_msgs::ImageConstPtr & message ) const

inlinevirtual

Publish an image using the transport associated with this PublisherPlugin.

Reimplemented in image_transport::RawPublisher.

Definition at line 98 of file publisher_plugin.h.

◆ publish() [3/3]

virtual void image_transport::PublisherPlugin::publish	(	const sensor_msgs::Image &	message,
		const uint8_t *	data
	)		const

inlinevirtual

Publish an image using the transport associated with this PublisherPlugin. This version of the function can be used to optimize cases where you don't want to fill a ROS message first to avoid useless copies.

Parameters

message	an image message to use information from (but not data)
data	a pointer to the image data to use to fill the Image message

Reimplemented in image_transport::RawPublisher.

Definition at line 110 of file publisher_plugin.h.

◆ shutdown()

virtual void image_transport::PublisherPlugin::shutdown ( )

pure virtual

Shutdown any advertisements associated with this PublisherPlugin.

Implemented in image_transport::SimplePublisherPlugin< M >, image_transport::SimplePublisherPlugin< sensor_msgs::Image >, and image_transport::SimplePublisherPlugin< image_transport_tutorial::ResizedImage >.

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

publisher_plugin.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~PublisherPlugin()

Member Function Documentation

◆ advertise() [1/2]

◆ advertise() [2/2]

◆ advertiseImpl()

◆ getLookupName()

◆ getNumSubscribers()

◆ getTopic()

◆ getTransportName()

◆ publish() [1/3]

◆ publish() [2/3]

◆ publish() [3/3]

◆ shutdown()