Program Listing for File publisher.hpp
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* $Id: publisher.h 33238 2010-03-11 00:46:58Z rusu $
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#ifndef PCL_ROS__PUBLISHER_HPP_
#define PCL_ROS__PUBLISHER_HPP_
#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl/conversions.h>
#include <pcl_conversions/pcl_conversions.h>
#include <string>
namespace pcl_ros
{
class BasePublisher
{
public:
void
advertise(ros::NodeHandle & nh, const std::string & topic, uint32_t queue_size)
{
pub_ = nh.advertise<sensor_msgs::PointCloud2>(topic, queue_size);
}
std::string
getTopic()
{
return pub_.getTopic();
}
uint32_t
getNumSubscribers() const
{
return pub_.getNumSubscribers();
}
void
shutdown()
{
pub_.shutdown();
}
operator void *() const
{
return (pub_) ? reinterpret_cast<void *>(1) : reinterpret_cast<void *>(0);
}
protected:
ros::Publisher pub_;
};
template<typename PointT>
class Publisher : public BasePublisher
{
public:
Publisher() {}
Publisher(ros::NodeHandle & nh, const std::string & topic, uint32_t queue_size)
{
advertise(nh, topic, queue_size);
}
~Publisher() {}
inline void
publish(const boost::shared_ptr<const pcl::PointCloud<PointT>> & point_cloud) const
{
publish(*point_cloud);
}
inline void
publish(const pcl::PointCloud<PointT> & point_cloud) const
{
// Fill point cloud binary data
sensor_msgs::PointCloud2::Ptr msg_ptr(new sensor_msgs::PointCloud2);
pcl::toROSMsg(point_cloud, *msg_ptr);
pub_.publish(msg_ptr);
}
};
template<>
class Publisher<sensor_msgs::PointCloud2>: public BasePublisher
{
public:
Publisher() {}
Publisher(ros::NodeHandle & nh, const std::string & topic, uint32_t queue_size)
{
advertise(nh, topic, queue_size);
}
~Publisher() {}
void
publish(const sensor_msgs::PointCloud2Ptr & point_cloud) const
{
pub_.publish(point_cloud);
// pub_.publish (*point_cloud);
}
void
publish(const sensor_msgs::PointCloud2 & point_cloud) const
{
pub_.publish(boost::make_shared<const sensor_msgs::PointCloud2>(point_cloud));
// pub_.publish (point_cloud);
}
};
} // namespace pcl_ros
#endif // PCL_ROS__PUBLISHER_HPP_