/usr/include/image_transport/raw_publisher.h is in libimage-transport-dev 1.11.10-5.
This file is owned by root:root, with mode 0o644.
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#ifndef IMAGE_TRANSPORT_RAW_PUBLISHER_H
#define IMAGE_TRANSPORT_RAW_PUBLISHER_H
#include "image_transport/simple_publisher_plugin.h"
namespace image_transport {
/**
* \brief The default PublisherPlugin.
*
* RawPublisher is a simple wrapper for ros::Publisher, publishing unaltered Image
* messages on the base topic.
*/
class RawPublisher : public SimplePublisherPlugin<sensor_msgs::Image>
{
public:
virtual ~RawPublisher() {}
virtual std::string getTransportName() const
{
return "raw";
}
// Override the default implementation because publishing the message pointer allows
// the no-copy intraprocess optimization.
virtual void publish(const sensor_msgs::ImageConstPtr& message) const
{
getPublisher().publish(message);
}
// Override the default implementation to not copy data to a sensor_msgs::Image first
virtual void publish(const sensor_msgs::Image& message, const uint8_t* data) const;
protected:
virtual void publish(const sensor_msgs::Image& message, const PublishFn& publish_fn) const
{
publish_fn(message);
}
virtual std::string getTopicToAdvertise(const std::string& base_topic) const
{
return base_topic;
}
};
} //namespace image_transport
#endif
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