Class RawSubscriber

Defined in File raw_subscriber.hpp

Inheritance Relationships

Base Type

public point_cloud_transport::SimpleSubscriberPlugin< sensor_msgs::msg::PointCloud2 > (Template Class SimpleSubscriberPlugin)

Class Documentation

class RawSubscriber : public point_cloud_transport::SimpleSubscriberPlugin<sensor_msgs::msg::PointCloud2>

The default SubscriberPlugin.

RawSubscriber is a simple wrapper for rclcpp::Subscription which listens for PointCloud2 messages and passes them through to the callback.

Public Functions

inline virtual ~RawSubscriber()

POINT_CLOUD_TRANSPORT_PUBLIC SubscriberPlugin::DecodeResult decodeTyped (const sensor_msgs::msg::PointCloud2::ConstSharedPtr &compressed) const

virtual POINT_CLOUD_TRANSPORT_PUBLIC SubscriberPlugin::DecodeResult decodeTyped (const sensor_msgs::msg::PointCloud2 &compressed) const

Decode the given compressed pointcloud into a raw message.

Parameters:: compressed – [in] The input compressed pointcloud.
Returns:: The raw cloud message (if encoding succeeds), or an error message.

virtual POINT_CLOUD_TRANSPORT_PUBLIC std::string getDataType () const override: Return the datatype of the transported messages (as text in the form package/Message).

virtual POINT_CLOUD_TRANSPORT_PUBLIC void declareParameters () override: Declare parameter with this SubscriberPlugin.

virtual POINT_CLOUD_TRANSPORT_PUBLIC std::string getTransportName () const override: Get a string identifier for the transport provided by this plugin.

Protected Functions

POINT_CLOUD_TRANSPORT_PUBLIC void callback (const sensor_msgs::msg::PointCloud2::ConstSharedPtr &message, const Callback &user_cb) override

virtual POINT_CLOUD_TRANSPORT_PUBLIC std::string getTopicToSubscribe (const std::string &base_topic) const override

Get the name of the topic that this SubscriberPlugin will subscribe to.

Parameters:: base_topic – [in] The topic that the subscriber was constructed with.
Returns:: The name of the topic that this SubscriberPlugin will subscribe to (e.g. <base_topic>/<transport_name>).

void subscribeImpl(std::shared_ptr<rclcpp::Node> node, const std::string &base_topic, const Callback &callback, rmw_qos_profile_t custom_qos = rmw_qos_profile_default) = 0: Subscribe to a point cloud transport topic. Must be implemented by the subclass.

void subscribeImpl(std::shared_ptr<rclcpp::Node> node, const std::string &base_topic, const Callback &callback, rmw_qos_profile_t custom_qos, rclcpp::SubscriptionOptions options) = 0