Template Class SimpleSubscriberPlugin

Defined in File simple_subscriber_plugin.hpp

Nested Relationships

Nested Types

Struct SimpleSubscriberPlugin::Impl

Inheritance Relationships

Base Type

public image_transport::SubscriberPlugin (Class SubscriberPlugin)

Class Documentation

template<class M> class SimpleSubscriberPlugin : public image_transport::SubscriberPlugin 

Base class to simplify implementing most plugins to Subscriber.

The base class simplifies implementing a SubscriberPlugin in the common case that all communication with the matching PublisherPlugin happens over a single ROS topic using a transport-specific message type. SimpleSubscriberPlugin is templated on the transport-specific message type.

A subclass need implement only two methods:

getTransportName() from SubscriberPlugin
internalCallback() - processes a message and invoked the user Image callback if appropriate.

For access to the parameter server and name remappings, use nh().

getTopicToSubscribe() controls the name of the internal communication topic. It defaults to <base topic>/<transport name>.

Public Functions

inline virtual ~SimpleSubscriberPlugin()

inline virtual std::string getTopic() const override: Get the transport-specific communication topic.

inline virtual size_t getNumPublishers() const override: Returns the number of publishers this subscriber is connected to.

inline virtual void shutdown() override: Unsubscribe the callback associated with this SubscriberPlugin.

Protected Functions

virtual void internalCallback(const typename std::shared_ptr<const M> &message, const Callback &user_cb) = 0

Process a message. Must be implemented by the subclass.

Parameters:

message – A message from the PublisherPlugin.
user_cb – The user Image callback to invoke, if appropriate.

inline virtual std::string getTopicToSubscribe(const std::string &base_topic) const

Return the communication topic name for a given base topic.

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

inline virtual void subscribeImpl(rclcpp::Node *node, const std::string &base_topic, const Callback &callback, rmw_qos_profile_t custom_qos, rclcpp::SubscriptionOptions options) override: Subscribe to an image transport topic. Must be implemented by the subclass.