Program Listing for File laser_publisher.hpp
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/*
* Copyright (c) 2013, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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*/
/*
* Author: Chad Rockey
*/
#ifndef LASER_PROC__LASER_PUBLISHER_HPP_
#define LASER_PROC__LASER_PUBLISHER_HPP_
#include <memory>
#include <string>
#include <vector>
#include "rclcpp/node.hpp"
#include "sensor_msgs/msg/multi_echo_laser_scan.hpp"
#include "visibility_control.hpp"
namespace laser_proc
{
class LaserPublisher
{
public:
LASER_PROC_PUBLIC
explicit LaserPublisher(
rclcpp::Node::SharedPtr & nh, uint32_t queue_size, bool publish_echoes = true);
LASER_PROC_PUBLIC
explicit LaserPublisher(
std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface> topics_interface,
uint32_t queue_size,
bool publish_echoes = true);
LASER_PROC_PUBLIC
size_t getNumSubscribers() const;
LASER_PROC_PUBLIC
std::vector<std::string> getTopics() const;
LASER_PROC_PUBLIC
void publish(const sensor_msgs::msg::MultiEchoLaserScan & msg) const;
LASER_PROC_PUBLIC
void publish(sensor_msgs::msg::MultiEchoLaserScan::ConstSharedPtr msg) const;
LASER_PROC_PUBLIC
void shutdown();
LASER_PROC_PUBLIC
operator void *() const;
LASER_PROC_PUBLIC
bool operator<(const LaserPublisher & rhs) const {return impl_ < rhs.impl_;}
LASER_PROC_PUBLIC
bool operator!=(const LaserPublisher & rhs) const {return impl_ != rhs.impl_;}
LASER_PROC_PUBLIC
bool operator==(const LaserPublisher & rhs) const {return impl_ == rhs.impl_;}
private:
struct Impl;
typedef std::shared_ptr<Impl> ImplPtr;
typedef std::weak_ptr<Impl> ImplWPtr;
ImplPtr impl_;
};
} // namespace laser_proc
#endif // LASER_PROC__LASER_PUBLISHER_HPP_