raw_publisher.h

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#ifndef IMAGE_TRANSPORT_RAW_PUBLISHER_H
#define IMAGE_TRANSPORT_RAW_PUBLISHER_H

#include "image_transport/simple_publisher_plugin.h"

namespace image_transport {

class RawPublisher : public SimplePublisherPlugin<sensor_msgs::Image>
{
public:
  virtual ~RawPublisher() {}

  virtual std::string getTransportName() const
  {
    return "raw";
  }

  // Override the default implementation because publishing the message pointer allows
  // the no-copy intraprocess optimization.
  virtual void publish(const sensor_msgs::ImageConstPtr& message) const
  {
    getPublisher().publish(message);
  }

  // Override the default implementation to not copy data to a sensor_msgs::Image first
  virtual void publish(const sensor_msgs::Image& message, const uint8_t* data) const;

protected:
  virtual void publish(const sensor_msgs::Image& message, const PublishFn& publish_fn) const
  {
    publish_fn(message);
  }

  virtual std::string getTopicToAdvertise(const std::string& base_topic) const
  {
    return base_topic;
  }
};

} //namespace image_transport

#endif