Program Listing for File raw_publisher.hpp

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// Copyright (c) 2023, Czech Technical University in Prague
// Copyright (c) 2019, paplhjak
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#ifndef POINT_CLOUD_TRANSPORT__RAW_PUBLISHER_HPP_
#define POINT_CLOUD_TRANSPORT__RAW_PUBLISHER_HPP_

#include <string>

#include <sensor_msgs/msg/point_cloud2.hpp>

#include <point_cloud_transport/simple_publisher_plugin.hpp>

#include "point_cloud_transport/visibility_control.hpp"

namespace point_cloud_transport
{

class RawPublisher
  : public point_cloud_transport::SimplePublisherPlugin<sensor_msgs::msg::PointCloud2>
{
public:
  virtual ~RawPublisher() {}

  virtual std::string getTransportName() const
  {
    return "raw";
  }

  std::string getDataType() const override
  {
    return "sensor_msgs/msg/PointCloud2";
  }

  void declareParameters(const std::string & /*base_topic*/) override
  {
  }

  RawPublisher::TypedEncodeResult encodeTyped(const sensor_msgs::msg::PointCloud2 & raw) const
  {
    return raw;
  }

protected:
  virtual void publish(
    const sensor_msgs::msg::PointCloud2 & message,
    const PublishFn & publish_fn) const
  {
    publish_fn(message);
  }

  virtual void publish(
    const sensor_msgs::msg::PointCloud2::ConstSharedPtr & message_ptr,
    const PublishFn & publish_fn) const
  {
    publish_fn(*message_ptr);
  }

  virtual std::string getTopicToAdvertise(const std::string & base_topic) const
  {
    return base_topic;
  }
};

}  // namespace point_cloud_transport
#endif  // POINT_CLOUD_TRANSPORT__RAW_PUBLISHER_HPP_