republish.cpp
Go to the documentation of this file.
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 * 
00004 *  Copyright (c) 2009, Willow Garage, Inc.
00005 *  All rights reserved.
00006 * 
00007 *  Redistribution and use in source and binary forms, with or without
00008 *  modification, are permitted provided that the following conditions
00009 *  are met:
00010 * 
00011 *   * Redistributions of source code must retain the above copyright
00012 *     notice, this list of conditions and the following disclaimer.
00013 *   * Redistributions in binary form must reproduce the above
00014 *     copyright notice, this list of conditions and the following
00015 *     disclaimer in the documentation and/or other materials provided
00016 *     with the distribution.
00017 *   * Neither the name of the Willow Garage nor the names of its
00018 *     contributors may be used to endorse or promote products derived
00019 *     from this software without specific prior written permission.
00020 * 
00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 *  POSSIBILITY OF SUCH DAMAGE.
00033 *********************************************************************/
00034 
00035 #include "image_transport/image_transport.h"
00036 #include "image_transport/publisher_plugin.h"
00037 #include <pluginlib/class_loader.h>
00038 
00039 int main(int argc, char** argv)
00040 {
00041   ros::init(argc, argv, "image_republisher", ros::init_options::AnonymousName);
00042   if (argc < 2) {
00043     printf("Usage: %s in_transport in:=<in_base_topic> [out_transport] out:=<out_base_topic>\n", argv[0]);
00044     return 0;
00045   }
00046   ros::NodeHandle nh;
00047   std::string in_topic  = nh.resolveName("in");
00048   std::string in_transport = argv[1];
00049   std::string out_topic = nh.resolveName("out");
00050 
00051   image_transport::ImageTransport it(nh);
00052   image_transport::Subscriber sub;
00053   
00054   if (argc < 3) {
00055     // Use all available transports for output
00056     image_transport::Publisher pub = it.advertise(out_topic, 1);
00057     
00058     // Use Publisher::publish as the subscriber callback
00059     typedef void (image_transport::Publisher::*PublishMemFn)(const sensor_msgs::ImageConstPtr&) const;
00060     PublishMemFn pub_mem_fn = &image_transport::Publisher::publish;
00061     sub = it.subscribe(in_topic, 1, boost::bind(pub_mem_fn, &pub, _1), ros::VoidPtr(), in_transport);
00062 
00063     ros::spin();
00064   }
00065   else {
00066     // Use one specific transport for output
00067     std::string out_transport = argv[2];
00068 
00069     // Load transport plugin
00070     typedef image_transport::PublisherPlugin Plugin;
00071     pluginlib::ClassLoader<Plugin> loader("image_transport", "image_transport::PublisherPlugin");
00072     std::string lookup_name = Plugin::getLookupName(out_transport);
00073     boost::shared_ptr<Plugin> pub( loader.createInstance(lookup_name) );
00074     pub->advertise(nh, out_topic, 1, image_transport::SubscriberStatusCallback(),
00075                    image_transport::SubscriberStatusCallback(), ros::VoidPtr(), false);
00076 
00077     // Use PublisherPlugin::publish as the subscriber callback
00078     typedef void (Plugin::*PublishMemFn)(const sensor_msgs::ImageConstPtr&) const;
00079     PublishMemFn pub_mem_fn = &Plugin::publish;
00080     sub = it.subscribe(in_topic, 1, boost::bind(pub_mem_fn, pub.get(), _1), pub, in_transport);
00081 
00082     ros::spin();
00083   }
00084 
00085   return 0;
00086 }


image_transport
Author(s): Patrick Mihelich
autogenerated on Mon Oct 6 2014 00:42:37