/usr/include/image_transport/publisher_plugin.h is in libimage-transport-dev 1.11.10-5.
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#ifndef IMAGE_TRANSPORT_PUBLISHER_PLUGIN_H
#define IMAGE_TRANSPORT_PUBLISHER_PLUGIN_H
#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include "image_transport/single_subscriber_publisher.h"
namespace image_transport {
/**
* \brief Base class for plugins to Publisher.
*/
class PublisherPlugin : boost::noncopyable
{
public:
virtual ~PublisherPlugin() {}
/**
* \brief Get a string identifier for the transport provided by
* this plugin.
*/
virtual std::string getTransportName() const = 0;
/**
* \brief Advertise a topic, simple version.
*/
void advertise(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
bool latch = true)
{
advertiseImpl(nh, base_topic, queue_size, SubscriberStatusCallback(),
SubscriberStatusCallback(), ros::VoidPtr(), latch);
}
/**
* \brief Advertise a topic with subscriber status callbacks.
*/
void advertise(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
const SubscriberStatusCallback& connect_cb,
const SubscriberStatusCallback& disconnect_cb = SubscriberStatusCallback(),
const ros::VoidPtr& tracked_object = ros::VoidPtr(), bool latch = true)
{
advertiseImpl(nh, base_topic, queue_size, connect_cb, disconnect_cb, tracked_object, latch);
}
/**
* \brief Returns the number of subscribers that are currently connected to
* this PublisherPlugin.
*/
virtual uint32_t getNumSubscribers() const = 0;
/**
* \brief Returns the communication topic that this PublisherPlugin will publish on.
*/
virtual std::string getTopic() const = 0;
/**
* \brief Publish an image using the transport associated with this PublisherPlugin.
*/
virtual void publish(const sensor_msgs::Image& message) const = 0;
/**
* \brief Publish an image using the transport associated with this PublisherPlugin.
*/
virtual void publish(const sensor_msgs::ImageConstPtr& message) const
{
publish(*message);
}
/**
* \brief 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.
* @param message an image message to use information from (but not data)
* @param data a pointer to the image data to use to fill the Image message
*/
virtual void publish(const sensor_msgs::Image& message, const uint8_t* data) const
{
sensor_msgs::Image msg;
msg.header = message.header;
msg.height = message.height;
msg.width = message.width;
msg.encoding = message.encoding;
msg.is_bigendian = message.is_bigendian;
msg.step = message.step;
msg.data = std::vector<uint8_t>(data, data + msg.step*msg.height);
publish(msg);
}
/**
* \brief Shutdown any advertisements associated with this PublisherPlugin.
*/
virtual void shutdown() = 0;
/**
* \brief Return the lookup name of the PublisherPlugin associated with a specific
* transport identifier.
*/
static std::string getLookupName(const std::string& transport_name)
{
return "image_transport/" + transport_name + "_pub";
}
protected:
/**
* \brief Advertise a topic. Must be implemented by the subclass.
*/
virtual void advertiseImpl(ros::NodeHandle& nh, const std::string& base_topic, uint32_t queue_size,
const SubscriberStatusCallback& connect_cb,
const SubscriberStatusCallback& disconnect_cb,
const ros::VoidPtr& tracked_object, bool latch) = 0;
};
} //namespace image_transport
#endif
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