28 advertise(it, base_topic, queue_size, latch);
43 it_ = std::make_shared<image_transport::ImageTransport>(it);
44 pub_ = it_->advertiseCamera(
45 base_topic, queue_size,
48 this->update_subscriber_state();
52 this->update_subscriber_state();
56 this->update_subscriber_state();
60 this->update_subscriber_state();
65 update_subscriber_state();
70 it_ = std::make_shared<image_transport::ImageTransport>(it);
71 pub_ = it_->advertiseCamera(
72 base_topic, queue_size,
75 this->update_subscriber_state();
76 if (image_connect_cb) image_connect_cb(ssp);
80 this->update_subscriber_state();
81 if (image_disconnect_cb) image_disconnect_cb(ssp);
85 this->update_subscriber_state();
86 if (info_connect_cb) info_connect_cb(ssp);
90 this->update_subscriber_state();
91 if (info_disconnect_cb) info_disconnect_cb(ssp);
96 update_subscriber_state();
99 void CameraPublisher::receive (
const sensor_msgs::ImageConstPtr& img,
const sensor_msgs::CameraInfoConstPtr& info) noexcept
101 pub_.publish(img, info);