Manages advertisements of multiple transport options on an Message topic. More...
#include <publisher.h>
Public Member Functions | |
| template<class M > | |
| void | do_initialise (ros::NodeHandle &nh, const std::string &package_name, const std::string &class_name, const std::string &base_topic, uint32_t queue_size, const typename SingleSubscriberPublisher< M >::StatusCB &connect_cb, const typename SingleSubscriberPublisher< M >::StatusCB &disconnect_cb, const ros::VoidPtr &tracked_object, bool latch) |
| uint32_t | getNumSubscribers () const |
| Returns the number of subscribers that are currently connected to this Publisher. | |
| std::string | getTopic () const |
| Returns the base topic of this Publisher. | |
| operator void * () const | |
| bool | operator!= (const Publisher &rhs) const |
| bool | operator< (const Publisher &rhs) const |
| bool | operator== (const Publisher &rhs) const |
| template<class M > | |
| void | publish (const M &message) const |
| Publish an image on the topics associated with this Publisher. | |
| template<class M > | |
| void | publish (const typename M::ConstPtr &message) const |
| Publish an image on the topics associated with this Publisher. | |
| Publisher () | |
| Publisher (ros::NodeHandle &nh) | |
| void | shutdown () |
| Shutdown the advertisements associated with this Publisher. | |
Private Types | |
| typedef boost::shared_ptr < PublisherImplGen > | ImplPtr |
Private Member Functions | |
| template<class M > | |
| SingleSubscriberPublisher< M > ::StatusCB | rebindCB (const typename SingleSubscriberPublisher< M >::StatusCB &user_cb) |
Private Attributes | |
| ImplPtr | impl_ |
Manages advertisements of multiple transport options on an Message topic.
Publisher is a drop-in replacement for ros::Publisher when publishing Message topics. In a minimally built environment, they behave the same; however, Publisher is extensible via plugins to publish alternative representations of the image on related subtopics. This is especially useful for limiting bandwidth and latency over a network connection, when you might (for example) use the theora plugin to transport the images as streamed video. All topics are published only on demand (i.e. if there are subscribers).
A Publisher should always be created through a call to MessageTransport::advertise(), or copied from one that was. Once all copies of a specific Publisher go out of scope, any subscriber callbacks associated with that handle will stop being called. Once all Publisher for a given base topic go out of scope the topic (and all subtopics) will be unadvertised.
Definition at line 61 of file publisher.h.
typedef boost::shared_ptr<PublisherImplGen> message_transport::Publisher::ImplPtr [private] |
Definition at line 164 of file publisher.h.
| message_transport::Publisher::Publisher | ( | ) | [inline] |
Definition at line 64 of file publisher.h.
Definition at line 44 of file publisher.cpp.
| void message_transport::Publisher::do_initialise | ( | ros::NodeHandle & | nh, |
| const std::string & | package_name, | ||
| const std::string & | class_name, | ||
| const std::string & | base_topic, | ||
| uint32_t | queue_size, | ||
| const typename SingleSubscriberPublisher< M >::StatusCB & | connect_cb, | ||
| const typename SingleSubscriberPublisher< M >::StatusCB & | disconnect_cb, | ||
| const ros::VoidPtr & | tracked_object, | ||
| bool | latch | ||
| ) | [inline] |
Definition at line 120 of file publisher.h.
| uint32_t message_transport::Publisher::getNumSubscribers | ( | ) | const |
Returns the number of subscribers that are currently connected to this Publisher.
Returns the total number of subscribers to all advertised topics.
Definition at line 47 of file publisher.cpp.
| std::string message_transport::Publisher::getTopic | ( | ) | const |
Returns the base topic of this Publisher.
Definition at line 53 of file publisher.cpp.
| message_transport::Publisher::operator void * | ( | ) | const |
Definition at line 68 of file publisher.cpp.
| bool message_transport::Publisher::operator!= | ( | const Publisher & | rhs | ) | const [inline] |
Definition at line 115 of file publisher.h.
| bool message_transport::Publisher::operator< | ( | const Publisher & | rhs | ) | const [inline] |
Definition at line 114 of file publisher.h.
| bool message_transport::Publisher::operator== | ( | const Publisher & | rhs | ) | const [inline] |
Definition at line 116 of file publisher.h.
| void message_transport::Publisher::publish | ( | const M & | message | ) | const [inline] |
Publish an image on the topics associated with this Publisher.
Definition at line 84 of file publisher.h.
| void message_transport::Publisher::publish | ( | const typename M::ConstPtr & | message | ) | const [inline] |
Publish an image on the topics associated with this Publisher.
Definition at line 98 of file publisher.h.
| SingleSubscriberPublisher<M>::StatusCB message_transport::Publisher::rebindCB | ( | const typename SingleSubscriberPublisher< M >::StatusCB & | user_cb | ) | [inline, private] |
Definition at line 154 of file publisher.h.
Shutdown the advertisements associated with this Publisher.
Definition at line 60 of file publisher.cpp.
ImplPtr message_transport::Publisher::impl_ [private] |
Definition at line 166 of file publisher.h.