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#ifndef ZSTD_IMAGE_TRANSPORT__ZSTD_PUBLISHER_HPP_
#define ZSTD_IMAGE_TRANSPORT__ZSTD_PUBLISHER_HPP_

#include <string>
#include <vector>

#include <sensor_msgs/msg/image.hpp>
#include <sensor_msgs/msg/compressed_image.hpp>
#include <image_transport/simple_publisher_plugin.hpp>

#include <rclcpp/node.hpp>

#include "zstd_image_transport/zstd_common.hpp"

namespace zstd_image_transport
{

using CompressedImage = sensor_msgs::msg::CompressedImage;
using ParameterEvent = rcl_interfaces::msg::ParameterEvent;

class ZstdPublisher : public image_transport::SimplePublisherPlugin<CompressedImage>
{
public:
  ZstdPublisher();
  ~ZstdPublisher() override = default;

  std::string getTransportName() const override;

protected:
  // Overridden to set up reconfigure server
  void advertiseImpl(
    rclcpp::Node * node,
    const std::string & base_topic,
    rmw_qos_profile_t custom_qos,
    rclcpp::PublisherOptions options) override;

  void publish(
    const sensor_msgs::msg::Image & message,
    const PublishFn & publish_fn) const override;

  rclcpp::Logger logger_;
  rclcpp::Node * node_;

private:
  std::vector<std::string> parameters_;

  void declareParameter(
    const std::string & base_name,
    const ParameterDefinition & definition);
};

}  // namespace zstd_image_transport

#endif  // ZSTD_IMAGE_TRANSPORT__ZSTD_PUBLISHER_HPP_