publisher_plugin.h
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00034 
00035 #ifndef IMAGE_TRANSPORT_PUBLISHER_PLUGIN_H
00036 #define IMAGE_TRANSPORT_PUBLISHER_PLUGIN_H
00037 
00038 #include <ros/ros.h>
00039 #include <sensor_msgs/Image.h>
00040 #include "image_transport/single_subscriber_publisher.h"
00041 
00042 namespace image_transport {
00043 
00047 class PublisherPlugin : boost::noncopyable
00048 {
00049 public:
00050   virtual ~PublisherPlugin() {}
00051 
00056   virtual std::string getTransportName() const = 0;
00057 
00061   void advertise(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
00062                  bool latch = true)
00063   {
00064     advertiseImpl(nh, base_topic, queue_size, SubscriberStatusCallback(),
00065                   SubscriberStatusCallback(), ros::VoidPtr(), latch);
00066   }
00067   
00071   void advertise(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
00072                  const SubscriberStatusCallback& connect_cb,
00073                  const SubscriberStatusCallback& disconnect_cb = SubscriberStatusCallback(),
00074                  const ros::VoidPtr& tracked_object = ros::VoidPtr(), bool latch = true)
00075   {
00076     advertiseImpl(nh, base_topic, queue_size, connect_cb, disconnect_cb, tracked_object, latch);
00077   }
00078 
00083   virtual uint32_t getNumSubscribers() const = 0;
00084 
00088   virtual std::string getTopic() const = 0;
00089 
00093   virtual void publish(const sensor_msgs::Image& message) const = 0;
00094 
00098   virtual void publish(const sensor_msgs::ImageConstPtr& message) const
00099   {
00100     publish(*message);
00101   }
00102 
00110   virtual void publish(const sensor_msgs::Image& message, const uint8_t* data) const
00111   {
00112     sensor_msgs::Image msg;
00113     msg.header = message.header;
00114     msg.height = message.height;
00115     msg.width = message.width;
00116     msg.encoding = message.encoding;
00117     msg.is_bigendian = message.is_bigendian;
00118     msg.step = message.step;
00119     msg.data = std::vector<uint8_t>(data, data + msg.step*msg.height);
00120 
00121     publish(msg);
00122   }
00123 
00127   virtual void shutdown() = 0;
00128 
00133   static std::string getLookupName(const std::string& transport_name)
00134   {
00135     return "image_transport/" + transport_name + "_pub";
00136   }
00137 
00138 protected:
00142   virtual void advertiseImpl(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
00143                              const SubscriberStatusCallback& connect_cb,
00144                              const SubscriberStatusCallback& disconnect_cb,
00145                              const ros::VoidPtr& tracked_object, bool latch) = 0;
00146 };
00147 
00148 } //namespace image_transport
00149 
00150 #endif


image_transport
Author(s): Patrick Mihelich
autogenerated on Thu Jun 6 2019 21:19:55