Base class to simplify implementing most plugins to Publisher. More...

#include <simple_publisher_plugin.h>

Inheritance diagram for image_transport::SimplePublisherPlugin< M >:

Classes
struct	SimplePublisherPluginImpl

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

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

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

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

virtual	~SimplePublisherPlugin ()

Public Member Functions inherited from image_transport::PublisherPlugin
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 std::string	getTransportName () const =0
	Get a string identifier for the transport provided by this plugin. 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	~PublisherPlugin ()

Protected Types
typedef boost::function< void(const M &)>	PublishFn
	Generic function for publishing the internal message type. More...

Protected Member Functions
virtual void	advertiseImpl (ros::NodeHandle &nh, const std::string &base_topic, uint32_t queue_size, const SubscriberStatusCallback &user_connect_cb, const SubscriberStatusCallback &user_disconnect_cb, const ros::VoidPtr &tracked_object, bool latch)
	Advertise a topic. Must be implemented by the subclass. More...

virtual void	connectCallback (const ros::SingleSubscriberPublisher &pub)
	Function called when a subscriber connects to the internal publisher. More...

virtual void	disconnectCallback (const ros::SingleSubscriberPublisher &pub)
	Function called when a subscriber disconnects from the internal publisher. More...

const ros::Publisher &	getPublisher () const
	Returns the internal ros::Publisher. More...

virtual std::string	getTopicToAdvertise (const std::string &base_topic) const
	Return the communication topic name for a given base topic. More...

const ros::NodeHandle &	nh () const
	Returns the ros::NodeHandle to be used for parameter lookup. More...

virtual void	publish (const sensor_msgs::Image &message, const PublishFn &publish_fn) const =0
	Publish an image using the specified publish function. Must be implemented by the subclass. More...

Private Types
typedef boost::function< void(const sensor_msgs::Image &)>	ImagePublishFn

typedef void(SimplePublisherPlugin::*	SubscriberStatusMemFn) (const ros::SingleSubscriberPublisher &pub)

Private Member Functions
ros::SubscriberStatusCallback	bindCB (const SubscriberStatusCallback &user_cb, SubscriberStatusMemFn internal_cb_fn)

template<class PubT >
PublishFn	bindInternalPublisher (const PubT &pub) const

void	subscriberCB (const ros::SingleSubscriberPublisher &ros_ssp, const SubscriberStatusCallback &user_cb, const ros::SubscriberStatusCallback &internal_cb)

Private Attributes
boost::scoped_ptr< SimplePublisherPluginImpl >	simple_impl_

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

Detailed Description

template<class M>
class image_transport::SimplePublisherPlugin< M >

Base class to simplify implementing most plugins to Publisher.

This base class vastly simplifies implementing a PublisherPlugin in the common case that all communication with the matching SubscriberPlugin happens over a single ROS topic using a transport-specific message type. SimplePublisherPlugin is templated on the transport-specific message type.

A subclass need implement only two methods:

getTransportName() from PublisherPlugin
publish() with an extra PublishFn argument

For access to the parameter server and name remappings, use nh().

getTopicToAdvertise() controls the name of the internal communication topic. It defaults to <base topic>/<transport name>.

Definition at line 61 of file simple_publisher_plugin.h.

Member Typedef Documentation

◆ ImagePublishFn

template<class M>

typedef boost::function<void(const sensor_msgs::Image&)> image_transport::SimplePublisherPlugin< M >::ImagePublishFn

private

Definition at line 220 of file simple_publisher_plugin.h.

◆ PublishFn

template<class M>

typedef boost::function<void(const M&)> image_transport::SimplePublisherPlugin< M >::PublishFn

protected

Generic function for publishing the internal message type.

Definition at line 109 of file simple_publisher_plugin.h.

◆ SubscriberStatusMemFn

template<class M>

typedef void(SimplePublisherPlugin::* image_transport::SimplePublisherPlugin< M >::SubscriberStatusMemFn) (const ros::SingleSubscriberPublisher &pub)

private

Definition at line 179 of file simple_publisher_plugin.h.

Constructor & Destructor Documentation

◆ ~SimplePublisherPlugin()

template<class M>

virtual image_transport::SimplePublisherPlugin< M >::~SimplePublisherPlugin ( )

inlinevirtual

Definition at line 64 of file simple_publisher_plugin.h.

Member Function Documentation

◆ advertiseImpl()

template<class M>

virtual void image_transport::SimplePublisherPlugin< M >::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
	)

inlineprotectedvirtual

Advertise a topic. Must be implemented by the subclass.

Implements image_transport::PublisherPlugin.

Definition at line 94 of file simple_publisher_plugin.h.

◆ bindCB()

template<class M>

ros::SubscriberStatusCallback image_transport::SimplePublisherPlugin< M >::bindCB	(	const SubscriberStatusCallback &	user_cb,
		SubscriberStatusMemFn	internal_cb_fn
	)

inlineprivate

Binds the user callback to subscriberCB(), which acts as an intermediary to expose a publish(Image) interface to the user while publishing to an internal topic.

Definition at line 185 of file simple_publisher_plugin.h.

◆ bindInternalPublisher()

template<class M>

template<class PubT >

PublishFn image_transport::SimplePublisherPlugin< M >::bindInternalPublisher ( const PubT & pub ) const

inlineprivate

Returns a function object for publishing the transport-specific message type through some ROS publisher type.

Parameters

pub	An object with method void publish(const M&)

Definition at line 229 of file simple_publisher_plugin.h.

◆ connectCallback()

template<class M>

virtual void image_transport::SimplePublisherPlugin< M >::connectCallback ( const ros::SingleSubscriberPublisher & pub )

inlineprotectedvirtual

Function called when a subscriber connects to the internal publisher.

Defaults to noop.

Definition at line 136 of file simple_publisher_plugin.h.

◆ disconnectCallback()

template<class M>

virtual void image_transport::SimplePublisherPlugin< M >::disconnectCallback ( const ros::SingleSubscriberPublisher & pub )

inlineprotectedvirtual

Function called when a subscriber disconnects from the internal publisher.

Defaults to noop.

Definition at line 143 of file simple_publisher_plugin.h.

◆ getNumSubscribers()

template<class M>

virtual uint32_t image_transport::SimplePublisherPlugin< M >::getNumSubscribers ( ) const

inlinevirtual

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

Implements image_transport::PublisherPlugin.

Definition at line 66 of file simple_publisher_plugin.h.

◆ getPublisher()

template<class M>

const ros::Publisher& image_transport::SimplePublisherPlugin< M >::getPublisher ( ) const

inlineprotected

Returns the internal ros::Publisher.

This really only exists so RawPublisher can implement no-copy intraprocess message passing easily.

Definition at line 159 of file simple_publisher_plugin.h.

◆ getTopic()

template<class M>

virtual std::string image_transport::SimplePublisherPlugin< M >::getTopic ( ) const

inlinevirtual

Returns the communication topic that this PublisherPlugin will publish on.

Implements image_transport::PublisherPlugin.

Definition at line 72 of file simple_publisher_plugin.h.

◆ getTopicToAdvertise()

template<class M>

virtual std::string image_transport::SimplePublisherPlugin< M >::getTopicToAdvertise ( const std::string & base_topic ) const

inlineprotectedvirtual

Return the communication topic name for a given base topic.

Defaults to <base topic>/<transport name>.

Reimplemented in image_transport::RawPublisher.

Definition at line 126 of file simple_publisher_plugin.h.

◆ nh()

template<class M>

const ros::NodeHandle& image_transport::SimplePublisherPlugin< M >::nh ( ) const

inlineprotected

Returns the ros::NodeHandle to be used for parameter lookup.

Definition at line 148 of file simple_publisher_plugin.h.

◆ publish() [1/2]

template<class M>

virtual void image_transport::SimplePublisherPlugin< M >::publish ( const sensor_msgs::Image & message ) const

inlinevirtual

Publish an image using the transport associated with this PublisherPlugin.

Implements image_transport::PublisherPlugin.

Definition at line 78 of file simple_publisher_plugin.h.

◆ publish() [2/2]

template<class M>

virtual void image_transport::SimplePublisherPlugin< M >::publish	(	const sensor_msgs::Image &	message,
		const PublishFn &	publish_fn
	)		const

protectedpure virtual

Publish an image using the specified publish function. Must be implemented by the subclass.

The PublishFn publishes the transport-specific message type. This indirection allows SimpleSubscriberPlugin to use this function for both normal broadcast publishing and single subscriber publishing (in subscription callbacks).

Implemented in image_transport::RawPublisher.

◆ shutdown()

template<class M>

virtual void image_transport::SimplePublisherPlugin< M >::shutdown ( )

inlinevirtual

Shutdown any advertisements associated with this PublisherPlugin.

Implements image_transport::PublisherPlugin.

Definition at line 88 of file simple_publisher_plugin.h.

◆ subscriberCB()

template<class M>

void image_transport::SimplePublisherPlugin< M >::subscriberCB	(	const ros::SingleSubscriberPublisher &	ros_ssp,
		const SubscriberStatusCallback &	user_cb,
		const ros::SubscriberStatusCallback &	internal_cb
	)

inlineprivate

Forms the ros::SingleSubscriberPublisher for the internal communication topic into an image_transport::SingleSubscriberPublisher for Image messages and passes it to the user subscriber status callback.

Definition at line 200 of file simple_publisher_plugin.h.

Member Data Documentation

◆ simple_impl_

template<class M>

boost::scoped_ptr<SimplePublisherPluginImpl> image_transport::SimplePublisherPlugin< M >::simple_impl_

private

Definition at line 177 of file simple_publisher_plugin.h.

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

simple_publisher_plugin.h

Classes

Public Member Functions

Protected Types

Protected Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

template<class M> class image_transport::SimplePublisherPlugin< M >

Member Typedef Documentation

◆ ImagePublishFn

◆ PublishFn

◆ SubscriberStatusMemFn

Constructor & Destructor Documentation

◆ ~SimplePublisherPlugin()

Member Function Documentation

◆ advertiseImpl()

◆ bindCB()

◆ bindInternalPublisher()

◆ connectCallback()

◆ disconnectCallback()

◆ getNumSubscribers()

◆ getPublisher()

◆ getTopic()

◆ getTopicToAdvertise()

◆ nh()

◆ publish() [1/2]

◆ publish() [2/2]

◆ shutdown()

◆ subscriberCB()

Member Data Documentation

◆ simple_impl_

template<class M>
class image_transport::SimplePublisherPlugin< M >