Class SingleSubscriberPublisher

• Defined in File single_subscriber_publisher.hpp

Class Documentation

class SingleSubscriberPublisher

Allows publication of a point cloud to a single subscriber.

Public Types

typedef std::function<uint32_t()> GetNumSubscribersFn

typedef std::function<void(const sensor_msgs::msg::PointCloud2&)> PublishFn

Public Functions

SingleSubscriberPublisher(const SingleSubscriberPublisher&) = delete

SingleSubscriberPublisher &operator=(const SingleSubscriberPublisher&) = delete

POINT_CLOUD_TRANSPORT_PUBLIC SingleSubscriberPublisher(const std::string &caller_id, const std::string &topic, const GetNumSubscribersFn &num_subscribers_fn, const PublishFn &publish_fn)

POINT_CLOUD_TRANSPORT_PUBLIC std::string getSubscriberName () const

POINT_CLOUD_TRANSPORT_PUBLIC std::string getTopic () const

POINT_CLOUD_TRANSPORT_PUBLIC uint32_t getNumSubscribers () const

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

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