TangoRosStreamer: plugin_generator.cc Source File

Go to the documentation of this file.
00001 // Copyright 2017 Intermodalics All Rights Reserved.
00002 //
00003 // Licensed under the Apache License, Version 2.0 (the "License");
00004 // you may not use this file except in compliance with the License.
00005 // You may obtain a copy of the License at
00006 //
00007 //      http://www.apache.org/licenses/LICENSE-2.0
00008 //
00009 // Unless required by applicable law or agreed to in writing, software
00010 // distributed under the License is distributed on an "AS IS" BASIS,
00011 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00012 // See the License for the specific language governing permissions and
00013 // limitations under the License.
00014 #include <map>
00015 #include <string>
00016 
00017 #include <class_loader/multi_library_class_loader.h>
00018 #include <pluginlib/class_desc.h>
00019 
00020 using namespace pluginlib;
00021 
00022 // Lists all plugins that can be loaded by the nodelet manager in this app.
00023 typedef std::map<std::string, ClassDesc> classes_available_map;
00024 typedef std::pair<std::string, ClassDesc> plugin_pair;
00025 classes_available_map getStaticClassesAvailable(void) {
00026   classes_available_map pluginClasses;
00027   pluginClasses.insert(
00028       plugin_pair(
00029           "image_transport/raw_pub",
00030           ClassDesc("image_transport/raw_pub",
00031                     "image_transport::RawPublisher",
00032                     "image_transport::PublisherPlugin",
00033                     "image_transport",
00034                     "This is the default publisher. It publishes the Image as-is on the base topic.",
00035                     "lib/libimage_transport_plugins",
00036                     "")));
00037   pluginClasses.insert(
00038       plugin_pair(
00039           "image_transport/raw_sub",
00040           ClassDesc("image_transport/raw_sub",
00041                     "image_transport::RawSubscriber",
00042                     "image_transport::SubscriberPlugin",
00043                     "image_transport",
00044                     "This is the default pass-through subscriber for topics of type sensor_msgs/Image.",
00045                     "lib/libimage_transport_plugins",
00046                     "")));
00047   pluginClasses.insert(
00048         plugin_pair(
00049           "image_transport/compressedDepth_pub",
00050           ClassDesc("image_transport/compressedDepth_pub",
00051                     "compressed_depth_image_transport::CompressedDepthPublisher",
00052                     "image_transport::PublisherPlugin",
00053                     "compressed_depth_image_transport",
00054                     "This plugin publishes a compressed depth images using PNG compression.",
00055                     "lib/libcompressed_depth_image_transport",
00056                     "")));
00057   pluginClasses.insert(
00058         plugin_pair(
00059           "image_transport/compressedDepth_sub",
00060           ClassDesc("image_transport/compressedDepth_sub",
00061                     "compressed_depth_image_transport::CompressedDepthSubscriber",
00062                     "image_transport::SubscriberPlugin",
00063                     "compressed_depth_image_transport",
00064                     "This plugin decodes a compressed depth images.",
00065                     "lib/libcompressed_depth_image_transport",
00066                     "")));
00067   pluginClasses.insert(
00068         plugin_pair(
00069           "image_transport/compressed_pub",
00070           ClassDesc("image_transport/compressed_pub",
00071                     "compressed_image_transport::CompressedPublisher",
00072                     "image_transport::PublisherPlugin",
00073                     "compressed_image_transport",
00074                     "This plugin publishes a CompressedImage using either JPEG or PNG compression.",
00075                     "lib/libcompressed_image_transport",
00076                     "")));
00077   pluginClasses.insert(
00078         plugin_pair(
00079           "image_transport/compressed_sub",
00080           ClassDesc("image_transport/compressed_sub",
00081                     "compressed_image_transport::CompressedSubscriber",
00082                     "image_transport::SubscriberPlugin",
00083                     "compressed_image_transport",
00084                     "This plugin decompresses a CompressedImage topic.",
00085                     "lib/libcompressed_image_transport",
00086                     "")));
00087   pluginClasses.insert(
00088         plugin_pair(
00089           "tango_ros_native/TangoRosNodelet",
00090           ClassDesc("tango_ros_native/TangoRosNodelet",
00091                     "tango_ros_native::TangoRosNodelet",
00092                     "nodelet::Nodelet",
00093                     "tango_ros_native",
00094                     "lib/libtango_ros_native",
00095                     "Publishes Tango sensor data.",
00096                     "")));
00097   return pluginClasses;
00098 }