/usr/include/image_transport/single_subscriber_publisher.h is in libimage-transport-dev 1.11.10-5.
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#ifndef IMAGE_TRANSPORT_SINGLE_SUBSCRIBER_PUBLISHER
#define IMAGE_TRANSPORT_SINGLE_SUBSCRIBER_PUBLISHER
#include <boost/noncopyable.hpp>
#include <boost/function.hpp>
#include <sensor_msgs/Image.h>
namespace image_transport {
/**
* \brief Allows publication of an image to a single subscriber. Only available inside
* subscriber connection callbacks.
*/
class SingleSubscriberPublisher : boost::noncopyable
{
public:
typedef boost::function<uint32_t()> GetNumSubscribersFn;
typedef boost::function<void(const sensor_msgs::Image&)> PublishFn;
SingleSubscriberPublisher(const std::string& caller_id, const std::string& topic,
const GetNumSubscribersFn& num_subscribers_fn,
const PublishFn& publish_fn);
std::string getSubscriberName() const;
std::string getTopic() const;
uint32_t getNumSubscribers() const;
void publish(const sensor_msgs::Image& message) const;
void publish(const sensor_msgs::ImageConstPtr& message) const;
private:
std::string caller_id_;
std::string topic_;
GetNumSubscribersFn num_subscribers_fn_;
PublishFn publish_fn_;
friend class Publisher; // to get publish_fn_ directly
};
typedef boost::function<void(const SingleSubscriberPublisher&)> SubscriberStatusCallback;
} //namespace image_transport
#endif
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