raw_publisher.h

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#ifndef IMAGE_TRANSPORT_RAW_PUBLISHER_H
#define IMAGE_TRANSPORT_RAW_PUBLISHER_H
 
#include "image_transport/simple_publisher_plugin.h"
 
namespace image_transport {
 
class RawPublisher : public SimplePublisherPlugin<sensor_msgs::Image>
{
public:
  virtual ~RawPublisher() {}
 
  virtual std::string getTransportName() const
  {
    return "raw";
  }
 
  // Override the default implementation because publishing the message pointer allows
  // the no-copy intraprocess optimization.
  virtual void publish(const sensor_msgs::ImageConstPtr& message) const
  {
    getPublisher().publish(message);
  }
 
  // Override the default implementation to not copy data to a sensor_msgs::Image first
  virtual void publish(const sensor_msgs::Image& message, const uint8_t* data) const;
 
protected:
  virtual void publish(const sensor_msgs::Image& message, const PublishFn& publish_fn) const
  {
    publish_fn(message);
  }
 
  virtual std::string getTopicToAdvertise(const std::string& base_topic) const
  {
    return base_topic;
  }
};
 
} //namespace image_transport
 
#endif