Class PublisherPlugin

Inheritance Relationships

Derived Types

Class Documentation

class PublisherPlugin

Base class for plugins to Publisher.

Subclassed by image_transport::SimplePublisherPlugin< sensor_msgs::msg::Image >, image_transport::SimplePublisherPlugin< M >

Public Functions

PublisherPlugin() = default
PublisherPlugin(const PublisherPlugin&) = delete
PublisherPlugin &operator=(const PublisherPlugin&) = delete
inline virtual ~PublisherPlugin()
virtual IMAGE_TRANSPORT_PUBLIC std::string getTransportName () const

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

The default implementation auto-discovers the name from the pluginlib manifest XML (without instantiating any plugin) by matching the demangled C++ type name of *this against the type attribute of each <class> element. The result is cached after the first call.

Plugins that override getTransportName() continue to work unchanged — user-supplied overrides always take precedence over the base implementation. Returning a different value than what is in the manifest is considered problematic.

virtual IMAGE_TRANSPORT_PUBLIC std::string getMessageType () const

Get the primary message type used by this plugin.

Returns the value of the <message_type> element from the plugin manifest XML (e.g. "sensor_msgs/msg/Image"). The result is cached after the first call. Override this method if you need a different value at runtime.

Returning a different value than what is in the manifest is considered problematic.

inline virtual bool supportsUniquePtrPub() const

Check whether this plugin supports publishing using UniquePtr.

inline void advertise(rclcpp::Node *node, const std::string &base_topic, rmw_qos_profile_t custom_qos = rmw_qos_profile_default, rclcpp::PublisherOptions options = rclcpp::PublisherOptions())

Advertise a topic, simple version.

inline void advertise(RequiredInterfaces node_interfaces, const std::string &base_topic, rclcpp::QoS custom_qos, rclcpp::PublisherOptions options = rclcpp::PublisherOptions())

Advertise a topic, simple version.

virtual size_t getNumSubscribers() const = 0

Returns the number of subscribers that are currently connected to this PublisherPlugin.

virtual std::string getTopic() const = 0

Returns the communication topic that this PublisherPlugin will publish on.

virtual void publish(const sensor_msgs::msg::Image &message) const = 0

Publish an image using the transport associated with this PublisherPlugin.

inline virtual void publishPtr(const sensor_msgs::msg::Image::ConstSharedPtr &message) const

Publish an image using the transport associated with this PublisherPlugin.

inline virtual void publishUniquePtr(sensor_msgs::msg::Image::UniquePtr) const

Publish an image using the transport associated with this PublisherPlugin. This version of the function can be used to optimize cases where the Plugin can avoid doing copies of the data when having the ownership to the image message. Plugins that can take advantage of message ownership should overwrite this method along with supportsUniquePtrPub().

inline virtual void publishData(const sensor_msgs::msg::Image &message, const uint8_t *data) const

Publish an image using the transport associated with this PublisherPlugin. This version of the function can be used to optimize cases where you don’t want to fill a ROS message first to avoid useless copies.

Parameters:

  • message – an image message to use information from (but not data)

  • data – a pointer to the image data to use to fill the Image message

virtual void shutdown() = 0

Shutdown any advertisements associated with this PublisherPlugin.

Public Static Functions

static inline std::string getLookupName(const std::string &transport_name)

Return the lookup name of the PublisherPlugin associated with a specific transport identifier.

Protected Functions

inline virtual void advertiseImpl(rclcpp::Node *node, const std::string &base_topic, rmw_qos_profile_t custom_qos, rclcpp::PublisherOptions options)

Advertise a topic. Must be implemented by the subclass.

virtual void advertiseImpl(RequiredInterfaces node_interfaces, const std::string &base_topic, rclcpp::QoS custom_qos, rclcpp::PublisherOptions options) = 0

Advertise a topic. Must be implemented by the subclass.