Program Listing for File raw_subscriber.hpp
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// Copyright (c) 2009, Willow Garage, Inc.
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#ifndef IMAGE_TRANSPORT__RAW_SUBSCRIBER_HPP_
#define IMAGE_TRANSPORT__RAW_SUBSCRIBER_HPP_
#include <string>
#include <memory>
#include "sensor_msgs/msg/image.hpp"
#include "image_transport/simple_subscriber_plugin.hpp"
#include "image_transport/visibility_control.hpp"
namespace image_transport
{
class RawSubscriber : public SimpleSubscriberPlugin<sensor_msgs::msg::Image>
{
public:
virtual ~RawSubscriber() {}
std::string getTransportName() const override
{
return "raw";
}
protected:
void internalCallback(
const std::shared_ptr<const sensor_msgs::msg::Image> & message,
const Callback & user_cb) override
{
user_cb(message);
}
std::string getTopicToSubscribe(const std::string & base_topic) const override
{
return base_topic;
}
};
} // namespace image_transport
#endif // IMAGE_TRANSPORT__RAW_SUBSCRIBER_HPP_