Program Listing for File subscriber_filter.hpp

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// Copyright (c) 2023, Czech Technical University in Prague
// Copyright (c) 2019, paplhjak
// Copyright (c) 2009, Willow Garage, Inc.
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#ifndef POINT_CLOUD_TRANSPORT__SUBSCRIBER_FILTER_HPP_
#define POINT_CLOUD_TRANSPORT__SUBSCRIBER_FILTER_HPP_

#include <memory>
#include <string>

#include <rclcpp/rclcpp.hpp>
#include <message_filters/simple_filter.h>  // NOLINT
#include <sensor_msgs/msg/point_cloud2.hpp>

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

namespace point_cloud_transport
{

class SubscriberFilter : public message_filters::SimpleFilter<sensor_msgs::msg::PointCloud2>
{
public:
  POINT_CLOUD_TRANSPORT_PUBLIC
  SubscriberFilter(
    std::shared_ptr<rclcpp::Node> node, const std::string & base_topic,
    const std::string & transport)
  {
    subscribe(node, base_topic, transport);
  }

  POINT_CLOUD_TRANSPORT_PUBLIC
  SubscriberFilter()
  {
  }

  POINT_CLOUD_TRANSPORT_PUBLIC
  ~SubscriberFilter()
  {
    unsubscribe();
  }

  POINT_CLOUD_TRANSPORT_PUBLIC
  void subscribe(
    std::shared_ptr<rclcpp::Node> node,
    const std::string & base_topic,
    const std::string & transport,
    rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
    rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions())
  {
    unsubscribe();
    sub_ = point_cloud_transport::create_subscription(
      node, base_topic,
      std::bind(&SubscriberFilter::cb, this, std::placeholders::_1),
      transport, custom_qos, options);
  }

  POINT_CLOUD_TRANSPORT_PUBLIC
  void unsubscribe()
  {
    sub_.shutdown();
  }

  POINT_CLOUD_TRANSPORT_PUBLIC
  std::string getTopic() const
  {
    return sub_.getTopic();
  }

  POINT_CLOUD_TRANSPORT_PUBLIC
  uint32_t getNumPublishers() const
  {
    return sub_.getNumPublishers();
  }

  POINT_CLOUD_TRANSPORT_PUBLIC
  std::string getTransport() const
  {
    return sub_.getTransport();
  }

  POINT_CLOUD_TRANSPORT_PUBLIC
  const Subscriber & getSubscriber() const
  {
    return sub_;
  }

private:
  void cb(const sensor_msgs::msg::PointCloud2::ConstSharedPtr & m)
  {
    signalMessage(m);
  }

  Subscriber sub_;
};

}  // namespace point_cloud_transport
#endif  // POINT_CLOUD_TRANSPORT__SUBSCRIBER_FILTER_HPP_