NOTE: This package's API is not yet released. It may change from its current form.
polled_camera contains a service definition for requesting polled images, as well as a C++ server class to simplify publishing polled images to clients.
The protocol for polling images from a camera driver node that supports it is as follows:
CameraInfoare published to
Use polled_camera::PublicationServer in camera driver nodes (or similar) to track client connections and respond to image requests.
There is not currently a matching client class, but receiving polled images is identical to subscribing to any other image topic. The only additional step is using a ros::ServiceClient to make explicit requests: