Class PublisherPlugin

Inheritance Relationships

Derived Types

Class Documentation

class PublisherPlugin

Base class for plugins to Publisher.

Subclassed by point_cloud_transport::SimplePublisherPlugin< sensor_msgs::msg::PointCloud2 >, point_cloud_transport::SimplePublisherPlugin< M >

Public Types

typedef tl::expected<std::optional<const std::shared_ptr<rclcpp::SerializedMessage>>, std::string> EncodeResult

Result of cloud encoding. Either an holding the compressed cloud, empty value or error message.

Public Functions

PublisherPlugin() = default
PublisherPlugin(const PublisherPlugin&) = delete
PublisherPlugin &operator=(const PublisherPlugin&) = delete
virtual std::string getTransportName() const = 0

Get a string identifier for the transport provided by this plugin.

POINT_CLOUD_TRANSPORT_PUBLIC void advertise (std::shared_ptr< rclcpp::Node > node, const std::string &base_topic, rmw_qos_profile_t custom_qos=rmw_qos_profile_default, const rclcpp::PublisherOptions &options=rclcpp::PublisherOptions())

Advertise a topic, simple version.

virtual uint32_t getNumSubscribers() const = 0

Returns the number of subscribers that are currently connected to this PublisherPlugin.

virtual std::string getTopic() const = 0

Returns the topic that this PublisherPlugin will publish on.

virtual std::string getDataType() const = 0

Return the datatype of the transported messages (as text in the form package/Message).

virtual POINT_CLOUD_TRANSPORT_PUBLIC EncodeResult encode (const sensor_msgs::msg::PointCloud2 &raw) const

Encode the given raw pointcloud into EncodeResult.

Parameters:

raw – [in] The input raw pointcloud.

Returns:

The output EncodeResult holding the compressed cloud message (if encoding succeeds), or an error message.

virtual void publish(const sensor_msgs::msg::PointCloud2 &message) const = 0

Publish a point cloud using the transport associated with this PublisherPlugin.

virtual POINT_CLOUD_TRANSPORT_PUBLIC void publish (const sensor_msgs::msg::PointCloud2::ConstSharedPtr &message) const

Publish a point cloud using the transport associated with this PublisherPlugin.

virtual void shutdown() = 0

Shutdown any advertisements associated with this PublisherPlugin.

virtual void declareParameters(const std::string &base_topic) = 0

Declare parameter with this PublisherPlugin.

virtual std::string getTopicToAdvertise(const std::string &base_topic) const = 0

Public Static Functions

static POINT_CLOUD_TRANSPORT_PUBLIC std::string getLookupName (const std::string &transport_name)

Return the lookup name of the PublisherPlugin associated with a specific transport identifier.

Protected Functions

virtual void advertiseImpl(std::shared_ptr<rclcpp::Node> node, const std::string &base_topic, rmw_qos_profile_t custom_qos, const rclcpp::PublisherOptions &options = rclcpp::PublisherOptions()) = 0

Advertise a topic. Must be implemented by the subclass.