Program Listing for File image_publisher.hpp

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// Copyright (c) 2008, Willow Garage, Inc.
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#ifndef IMAGE_PUBLISHER__IMAGE_PUBLISHER_HPP_
#define IMAGE_PUBLISHER__IMAGE_PUBLISHER_HPP_

#include <string>

#include <image_transport/image_transport.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/camera_info.hpp>

namespace image_publisher
{

class ImagePublisher : public rclcpp::Node
{
public:
  explicit ImagePublisher(const rclcpp::NodeOptions & options);

protected:
  void onInit();
  void doWork();
  void reconfigureCallback();

private:
  image_transport::CameraPublisher pub_;

  cv::VideoCapture cap_;
  cv::Mat image_;
  rclcpp::TimerBase::SharedPtr timer_;

  rclcpp::Node::OnSetParametersCallbackHandle::SharedPtr on_set_parameters_callback_handle_;

  std::string filename_;
  bool flip_horizontal_;
  bool flip_vertical_;
  bool retry_;  // If enabled will retry loading image from the filename_
  int timeout_;  // Time after which retrying starts

  std::string frame_id_;
  double publish_rate_;
  std::string camera_info_url_;
  bool flip_image_;
  int flip_value_;
  sensor_msgs::msg::CameraInfo camera_info_;
};

}  // namespace image_publisher

#endif  // IMAGE_PUBLISHER__IMAGE_PUBLISHER_HPP_