Class CameraSubscriber

Class Documentation

class CameraSubscriber

Manages a subscription callback on synchronized Image and CameraInfo topics.

CameraSubscriber is the client-side counterpart to CameraPublisher, and assumes the same topic naming convention. The callback is of type: 

void callback(const sensor_msgs::msg::Image::ConstSharedPtr&, const sensor_msgs::msg::CameraInfo::ConstSharedPtr&);

A CameraSubscriber should always be created through a call to ImageTransport::subscribeCamera(), or copied from one that was. Once all copies of a specific CameraSubscriber go out of scope, the subscription callback associated with that handle will stop being called. Once all CameraSubscriber for a given topic go out of scope the topic will be unsubscribed.

Public Types

typedef std::function<void(const sensor_msgs::msg::Image::ConstSharedPtr&, const sensor_msgs::msg::CameraInfo::ConstSharedPtr&)> Callback

Public Functions

IMAGE_TRANSPORT_PUBLIC CameraSubscriber() = default
IMAGE_TRANSPORT_PUBLIC CameraSubscriber(rclcpp::Node *node, const std::string &base_topic, const Callback &callback, const std::string &transport, rmw_qos_profile_t = rmw_qos_profile_default)
IMAGE_TRANSPORT_PUBLIC std::string getTopic () const

Get the base topic (on which the raw image is published).

IMAGE_TRANSPORT_PUBLIC std::string getInfoTopic () const

Get the camera info topic.

IMAGE_TRANSPORT_PUBLIC size_t getNumPublishers () const

Returns the number of publishers this subscriber is connected to.

IMAGE_TRANSPORT_PUBLIC std::string getTransport () const

Returns the name of the transport being used.

IMAGE_TRANSPORT_PUBLIC void shutdown ()

Unsubscribe the callback associated with this CameraSubscriber.

IMAGE_TRANSPORT_PUBLIC operator void*() const
inline IMAGE_TRANSPORT_PUBLIC bool operator< (const CameraSubscriber &rhs) const
inline IMAGE_TRANSPORT_PUBLIC bool operator!= (const CameraSubscriber &rhs) const
inline IMAGE_TRANSPORT_PUBLIC bool operator== (const CameraSubscriber &rhs) const