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

#include <simple_subscriber_plugin.h>

Inheritance diagram for image_transport::SimpleSubscriberPlugin< M >:

Classes
struct	SimpleSubscriberPluginImpl

Public Member Functions
virtual uint32_t	getNumPublishers () const
	Returns the number of publishers this subscriber is connected to. More...

virtual std::string	getTopic () const
	Get the transport-specific communication topic. More...

virtual void	shutdown ()
	Unsubscribe the callback associated with this SubscriberPlugin. More...

virtual	~SimpleSubscriberPlugin ()

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

void	subscribe (ros::NodeHandle &nh, const std::string &base_topic, uint32_t queue_size, const Callback &callback, const ros::VoidPtr &tracked_object=ros::VoidPtr(), const TransportHints &transport_hints=TransportHints())
	Subscribe to an image topic, version for arbitrary boost::function object. More...

void	subscribe (ros::NodeHandle &nh, const std::string &base_topic, uint32_t queue_size, void(*fp)(const sensor_msgs::ImageConstPtr &), const TransportHints &transport_hints=TransportHints())
	Subscribe to an image topic, version for bare function. More...

template<class T >
void	subscribe (ros::NodeHandle &nh, const std::string &base_topic, uint32_t queue_size, void(T::*fp)(const sensor_msgs::ImageConstPtr &), const boost::shared_ptr< T > &obj, const TransportHints &transport_hints=TransportHints())
	Subscribe to an image topic, version for class member function with shared_ptr. More...

template<class T >
void	subscribe (ros::NodeHandle &nh, const std::string &base_topic, uint32_t queue_size, void(T::fp)(const sensor_msgs::ImageConstPtr &), T obj, const TransportHints &transport_hints=TransportHints())
	Subscribe to an image topic, version for class member function with bare pointer. More...

virtual	~SubscriberPlugin ()

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

virtual void	internalCallback (const typename M::ConstPtr &message, const Callback &user_cb)=0
	Process a message. Must be implemented by the subclass. More...

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

virtual void	subscribeImpl (ros::NodeHandle &nh, const std::string &base_topic, uint32_t queue_size, const Callback &callback, const ros::VoidPtr &tracked_object, const TransportHints &transport_hints)
	Subscribe to an image transport topic. Must be implemented by the subclass. More...

Private Attributes
boost::scoped_ptr< SimpleSubscriberPluginImpl >	simple_impl_

Additional Inherited Members
Public Types inherited from image_transport::SubscriberPlugin
typedef boost::function< void(const sensor_msgs::ImageConstPtr &)>	Callback

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

Detailed Description

template<class M>
class image_transport::SimpleSubscriberPlugin< M >

Base class to simplify implementing most plugins to Subscriber.

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

A subclass need implement only two methods:

getTransportName() from SubscriberPlugin
internalCallback() - processes a message and invoked the user Image callback if appropriate.

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

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

Definition at line 94 of file simple_subscriber_plugin.h.

Constructor & Destructor Documentation

◆ ~SimpleSubscriberPlugin()

template<class M >

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

inlinevirtual

Definition at line 129 of file simple_subscriber_plugin.h.

Member Function Documentation

◆ getNumPublishers()

template<class M >

virtual uint32_t image_transport::SimpleSubscriberPlugin< M >::getNumPublishers ( ) const

inlinevirtual

Returns the number of publishers this subscriber is connected to.

Implements image_transport::SubscriberPlugin.

Definition at line 137 of file simple_subscriber_plugin.h.

◆ getTopic()

template<class M >

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

inlinevirtual

Get the transport-specific communication topic.

Implements image_transport::SubscriberPlugin.

Definition at line 131 of file simple_subscriber_plugin.h.

◆ getTopicToSubscribe()

template<class M >

virtual std::string image_transport::SimpleSubscriberPlugin< M >::getTopicToSubscribe ( 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::RawSubscriber.

Definition at line 162 of file simple_subscriber_plugin.h.

◆ internalCallback()

template<class M >

virtual void image_transport::SimpleSubscriberPlugin< M >::internalCallback	(	const typename M::ConstPtr &	message,
		const Callback &	user_cb
	)

protectedpure virtual

Process a message. Must be implemented by the subclass.

Parameters

message	A message from the PublisherPlugin.
user_cb	The user Image callback to invoke, if appropriate.

◆ nh()

template<class M >

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

inlineprotected

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

Definition at line 183 of file simple_subscriber_plugin.h.

◆ shutdown()

template<class M >

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

inlinevirtual

Unsubscribe the callback associated with this SubscriberPlugin.

Implements image_transport::SubscriberPlugin.

Definition at line 143 of file simple_subscriber_plugin.h.

◆ subscribeImpl()

template<class M >

virtual void image_transport::SimpleSubscriberPlugin< M >::subscribeImpl	(	ros::NodeHandle &	nh,
		const std::string &	base_topic,
		uint32_t	queue_size,
		const Callback &	callback,
		const ros::VoidPtr &	tracked_object,
		const TransportHints &	transport_hints
	)