Class RawPublisher

• Defined in File raw_publisher.hpp

Inheritance Relationships

Base Type

• public image_transport::SimplePublisherPlugin< sensor_msgs::msg::Image > (Template Class SimplePublisherPlugin)

Class Documentation

class RawPublisher : public image_transport::SimplePublisherPlugin<sensor_msgs::msg::Image>

The default PublisherPlugin.

RawPublisher is a simple wrapper for ros::Publisher, publishing unaltered Image messages on the base topic.

Public Functions

inline virtual ~RawPublisher()

inline virtual std::string getTransportName() const

Get a string identifier for the transport provided by this plugin.

inline virtual bool supportsUniquePtrPub() const

Check whether this plugin supports publishing using UniquePtr.

Protected Functions

inline virtual void publish(const sensor_msgs::msg::Image &message, const PublisherT &publisher) const

inline virtual void publish(sensor_msgs::msg::Image::UniquePtr message, const PublisherT &publisher) const

inline virtual std::string getTopicToAdvertise(const std::string &base_topic) const

Return the communication topic name for a given base topic.

Defaults to <base topic>/<transport name>.