Program Listing for File raw_subscriber.hpp

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// Copyright (c) 2023, Czech Technical University in Prague
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#ifndef POINT_CLOUD_TRANSPORT__RAW_SUBSCRIBER_HPP_
#define POINT_CLOUD_TRANSPORT__RAW_SUBSCRIBER_HPP_


#include <string>
#include <memory>

#include <sensor_msgs/msg/point_cloud2.hpp>

#include <point_cloud_transport/simple_subscriber_plugin.hpp>
#include "point_cloud_transport/visibility_control.hpp"

namespace point_cloud_transport
{

class RawSubscriber
  : public point_cloud_transport::SimpleSubscriberPlugin<sensor_msgs::msg::PointCloud2>
{
public:
  virtual ~RawSubscriber() {}

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

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

  POINT_CLOUD_TRANSPORT_PUBLIC
  std::string getDataType() const override;

  POINT_CLOUD_TRANSPORT_PUBLIC
  void declareParameters() override;

  POINT_CLOUD_TRANSPORT_PUBLIC
  std::string getTransportName() const override;

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

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

  using SubscriberPlugin::subscribeImpl;
};

}  // namespace point_cloud_transport
#endif  // POINT_CLOUD_TRANSPORT__RAW_SUBSCRIBER_HPP_