publisher.h
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45 #ifndef PCL_ROS_PUBLISHER_H_
46 #define PCL_ROS_PUBLISHER_H_
47 
48 #include <ros/ros.h>
49 #include <sensor_msgs/PointCloud2.h>
50 #include <pcl/conversions.h>
51 
53 
54 namespace pcl_ros
55 {
57  {
58  public:
59  void
60  advertise (ros::NodeHandle& nh, const std::string& topic, uint32_t queue_size)
61  {
62  pub_ = nh.advertise<sensor_msgs::PointCloud2>(topic, queue_size);
63  }
64 
65  std::string
67  {
68  return (pub_.getTopic ());
69  }
70 
71  uint32_t
73  {
74  return (pub_.getNumSubscribers ());
75  }
76 
77  void
79  {
80  pub_.shutdown ();
81  }
82 
83  operator void*() const
84  {
85  return (pub_) ? (void*)1 : (void*)0;
86  }
87 
88  protected:
90  };
91 
92  template <typename PointT>
93  class Publisher : public BasePublisher
94  {
95  public:
96  Publisher () {}
97 
98  Publisher (ros::NodeHandle& nh, const std::string& topic, uint32_t queue_size)
99  {
100  advertise (nh, topic, queue_size);
101  }
102 
104 
105  inline void
106  publish (const boost::shared_ptr<const pcl::PointCloud<PointT> > &point_cloud) const
107  {
108  publish (*point_cloud);
109  }
110 
111  inline void
112  publish (const pcl::PointCloud<PointT>& point_cloud) const
113  {
114  // Fill point cloud binary data
115  sensor_msgs::PointCloud2 msg;
116  pcl::toROSMsg (point_cloud, msg);
117  pub_.publish (boost::make_shared<const sensor_msgs::PointCloud2> (msg));
118  }
119  };
120 
121  template <>
122  class Publisher<sensor_msgs::PointCloud2> : public BasePublisher
123  {
124  public:
125  Publisher () {}
126 
127  Publisher (ros::NodeHandle& nh, const std::string& topic, uint32_t queue_size)
128  {
129  advertise (nh, topic, queue_size);
130  }
131 
133 
134  void
135  publish (const sensor_msgs::PointCloud2Ptr& point_cloud) const
136  {
137  pub_.publish (point_cloud);
138  //pub_.publish (*point_cloud);
139  }
140 
141  void
142  publish (const sensor_msgs::PointCloud2& point_cloud) const
143  {
144  pub_.publish (boost::make_shared<const sensor_msgs::PointCloud2> (point_cloud));
145  //pub_.publish (point_cloud);
146  }
147  };
148 }
149 #endif //#ifndef PCL_ROS_PUBLISHER_H_
std::string getTopic()
Definition: publisher.h:66
void publish(const boost::shared_ptr< const pcl::PointCloud< PointT > > &point_cloud) const
Definition: publisher.h:106
Publisher(ros::NodeHandle &nh, const std::string &topic, uint32_t queue_size)
Definition: publisher.h:98
void publish(const boost::shared_ptr< M > &message) const
void publish(const sensor_msgs::PointCloud2 &point_cloud) const
Definition: publisher.h:142
Publisher(ros::NodeHandle &nh, const std::string &topic, uint32_t queue_size)
Definition: publisher.h:127
Publisher advertise(const std::string &topic, uint32_t queue_size, bool latch=false)
ros::Publisher pub_
Definition: publisher.h:89
std::string getTopic() const
void toROSMsg(const sensor_msgs::PointCloud2 &cloud, sensor_msgs::Image &image)
void publish(const pcl::PointCloud< PointT > &point_cloud) const
Definition: publisher.h:112
uint32_t getNumSubscribers() const
void publish(const sensor_msgs::PointCloud2Ptr &point_cloud) const
Definition: publisher.h:135
uint32_t getNumSubscribers() const
Definition: publisher.h:72
void advertise(ros::NodeHandle &nh, const std::string &topic, uint32_t queue_size)
Definition: publisher.h:60


pcl_ros
Author(s): Open Perception, Julius Kammerl , William Woodall
autogenerated on Thu Feb 16 2023 03:08:02