message_transport_common Documentation

message_transport_common: message_transport_common

message_transport is a generic architecture for writing object transport, similar to the message_transport architecture.

codeapi

When transporting images, you should use image_transport's classes as drop-in replacements for ros::Publisher and ros::Subscriber.

Camera drivers publish a "camera_info" sibling topic containing important metadata on how to interpret an image for vision applications. image_transport included helper classes to publish (image, info) message pairs and re-synchronize them on the client side:

For other synchronization or filtering needs, see the low-level filter class:

writing_plugin

If you are an advanced user implementing your own image transport option, you will need to implement these base-level interfaces:

In the common case that all communication between PublisherPlugin and SubscriberPlugin happens over a single ROS topic using a transport-specific message type, writing the plugins is vastly simplified by using these base classes instead:

rosapi

pub_sub_rosapi

Because they encapsulate complicated communication behavior, image_transport publisher and subscriber classes have a public ROS API as well as a code API. See the wiki documentation for details.

Although image_transport::Publisher may publish many topics, in all code interfaces you should use only the name of the "base topic." The image transport classes will figure out the name of the dedicated ROS topic to use for the desired transport.



message_transport_common
Author(s): Cedric Pradalier
autogenerated on Sat Dec 28 2013 16:56:55