Publish consumed data to ROS camera topics. More...

#include <fkie_message_filters/camera_publisher.h>

Inheritance diagram for fkie_message_filters::CameraPublisher:

Collaboration diagram for fkie_message_filters::CameraPublisher:

Public Types
using	Input = IO< Inputs... >
	Grouped input types. More...

Public Member Functions
	CameraPublisher () noexcept
	Constructs an empty publisher. More...

	CameraPublisher (const image_transport::ImageTransport &it, const std::string &base_topic, uint32_t queue_size, bool latch=false) noexcept
	Constructor that advertises the given ROS camera topic. More...

void	advertise (const image_transport::ImageTransport &it, const std::string &base_topic, uint32_t queue_size, bool latch=false) noexcept
	Advertise ROS camera topic. More...

void	advertise (const image_transport::ImageTransport &it, const std::string &base_topic, uint32_t queue_size, const image_transport::SubscriberStatusCallback &image_connect_cb, const image_transport::SubscriberStatusCallback &image_disconnect_cb=image_transport::SubscriberStatusCallback(), const ros::SubscriberStatusCallback &info_connect_cb=ros::SubscriberStatusCallback(), const ros::SubscriberStatusCallback &info_disconnect_cb=ros::SubscriberStatusCallback(), const ros::VoidPtr &tracked_object=ros::VoidPtr(), bool latch=false) noexcept
	Advertise ROS camera topic with subscriber status callbacks. More...

Connection	connect_to_source (Source< Inputs... > &src) noexcept
	Connect this sink to a source. More...

virtual void	disconnect () noexcept override
	Disconnect from all connected sources. More...

void	disconnect_from_all_sources () noexcept
	Disconnect from all connected sources. More...

virtual bool	is_active () const noexcept override
	Check if the ROS publisher has at least one subscriber. More...

virtual void	reset () noexcept
	Reset filter state. More...

virtual std::string	topic () const noexcept override
	Return the configured ROS topic. More...

Static Public Attributes
static constexpr std::size_t	NUM_INPUTS
	Number of input arguments.

Protected Member Functions
std::tuple< boost::signals2::connection, boost::signals2::connection >	link_with_subscriber (SubscriberBase &sub)
	Add a new subscriber that will be controlled by this publisher. More...

virtual void	receive (const Inputs &... in)=0
	Process incoming data. More...

void	update_subscriber_state ()
	Cause all linked subscribers to subscribe or unsubscribe to their ROS topics. More...

Detailed Description

Publish consumed data to ROS camera topics.

This is a specialized publisher that uses image_transport to publish ROS camera topics. All messages which are received from the connected sources will be published on the corresponding advertised ROS topics.

Unlike regular ROS publishers, this class can be associated with one or more subscriber instances. In that case, the subscribers will subscribe to their ROS topics only if the publisher is actively used. This is a convenient method to save processing power if the filter pipeline is used only intermittently.

See also: CameraSubscriber, ImagePublisher, Publisher

Member Typedef Documentation

◆ Input

using fkie_message_filters::Sink< Inputs >::Input = IO<Inputs...>

inherited

Grouped input types.

This type can be used to define sources with matching types.

Constructor & Destructor Documentation

◆ CameraPublisher() [1/2]

fkie_message_filters::CameraPublisher::CameraPublisher ( )

inlinenoexcept

Constructs an empty publisher.

You need to call advertise() to actually publish to a ROS topic.

Exceptions: Does not throw any exceptions.

◆ CameraPublisher() [2/2]

fkie_message_filters::CameraPublisher::CameraPublisher	(	const image_transport::ImageTransport &	it,
		const std::string &	base_topic,
		uint32_t	queue_size,
		bool	latch = `false`
	)

noexcept

Constructor that advertises the given ROS camera topic.

The constructor calls advertise() for you.

Exceptions: Does not throw any exceptions.

Member Function Documentation

◆ advertise() [1/2]

void fkie_message_filters::CameraPublisher::advertise	(	const image_transport::ImageTransport &	it,
		const std::string &	base_topic,
		uint32_t	queue_size,
		bool	latch = `false`
	)

noexcept

Advertise ROS camera topic.

All arguments are passed to the ROS client library; see the ROS documentation for further information. Calling this method will automatically unadvertise any previously advertised ROS topic.

it ROS image_transport instance to handle the publishing
base_topic name of the ROS image topic, subject to remapping
queue_size size of the ROS publishing queue
latch if true, the last published message remains available for later subscribers

Exceptions: Does not throw any exceptions.

◆ advertise() [2/2]

void fkie_message_filters::CameraPublisher::advertise	(	const image_transport::ImageTransport &	it,
		const std::string &	base_topic,
		uint32_t	queue_size,
		const image_transport::SubscriberStatusCallback &	image_connect_cb,
		const image_transport::SubscriberStatusCallback &	image_disconnect_cb = `image_transport::SubscriberStatusCallback()`,
		const ros::SubscriberStatusCallback &	info_connect_cb = `ros::SubscriberStatusCallback()`,
		const ros::SubscriberStatusCallback &	info_disconnect_cb = `ros::SubscriberStatusCallback()`,
		const ros::VoidPtr &	tracked_object = `ros::VoidPtr()`,
		bool	latch = `false`
	)

noexcept

Advertise ROS camera topic with subscriber status callbacks.

All arguments are passed to the ROS client library; see the ROS documentation for further information. Calling this method will automatically unadvertise any previously advertised ROS topic.

it ROS image_transport instance to handle the publishing
base_topic name of the ROS image topic, subject to remapping
queue_size size of the ROS publishing queue
image_connect_cb callback that is invoked each time a new subscriber connects to the advertised image topic
image_disconnect_cb callback that is invoked each time an existing subscriber disconnects from the advertised image topic
info_connect_cb callback that is invoked each time a new subscriber connects to the advertised camera info topic
info_disconnect_cb callback that is invoked each time an existing subscriber disconnects from the advertised camera info topic
tracked_object an associated object whose lifetime will limit the lifetimes of the advertised topics
latch if true, the last published message remains available for later subscribers

Exceptions: Does not throw any exceptions.

◆ connect_to_source()

Connection fkie_message_filters::Sink< Inputs >::connect_to_source ( Source< Inputs... > & src )

noexceptinherited

Connect this sink to a source.

Can be called multiple times to connect multiple sources; in that case, the sink receives data from all connected sources. This function does basically the same thing as Source::connect_to_sink(), only from the opposite point of view.

src the source that is to be connected

Returns: a connection object that can be used to monitor or sever the created connection

Exceptions: Does not throw any exceptions.

◆ disconnect()

virtual void fkie_message_filters::Sink< Inputs >::disconnect ( )

overridevirtualnoexceptinherited

Disconnect from all connected sources.

The sink implementation calls disconnect_from_all_sources().

Exceptions: Does not throw any exceptions.

Implements fkie_message_filters::FilterBase.

◆ disconnect_from_all_sources()

void fkie_message_filters::Sink< Inputs >::disconnect_from_all_sources ( )

noexceptinherited

Disconnect from all connected sources.

Severs the connection to all sources. The receive() method will not be called any more.

Exceptions: Does not throw any exceptions.

◆ is_active()

bool fkie_message_filters::CameraPublisher::is_active ( ) const

overridevirtualnoexcept

Check if the ROS publisher has at least one subscriber.

Exceptions: Does not throw any exceptions.

Implements fkie_message_filters::PublisherBase.

◆ link_with_subscriber()

std::tuple< boost::signals2::connection, boost::signals2::connection > fkie_message_filters::PublisherBase::link_with_subscriber ( SubscriberBase & sub )

protectedinherited

Add a new subscriber that will be controlled by this publisher.

sub the subscriber
Returns
two connection objects for the signal to enable and disable the linked subscriber

Exceptions
Propagates exceptions raised by the implementation of the abstract class methods.

◆ receive()

virtual void fkie_message_filters::Sink< Inputs >::receive ( const Inputs &... in )

protectedpure virtualinherited

Process incoming data.

Derived classes need to override this method to handle all data that is to be consumed by the sink.

Exceptions: Depends on the implementation.

◆ reset()

virtual void fkie_message_filters::FilterBase::reset ( )

inlinevirtualnoexceptinherited

Reset filter state.

For stateful filters, this method resets the internal state as if the filter had just been created. Existing connections to sources and sinks are unaffected.

The default implementation does nothing.

Exceptions: Does not throw any exceptions.

Reimplemented in fkie_message_filters::Buffer< Inputs >, fkie_message_filters::Buffer< Inputs... >, fkie_message_filters::TfFilter< Inputs >, fkie_message_filters::TfFilter< Inputs... >, fkie_message_filters::Combiner< PolicyTmpl, IOs >, fkie_message_filters::Sequencer< Inputs >, and fkie_message_filters::Sequencer< Inputs... >.

◆ topic()

std::string fkie_message_filters::CameraPublisher::topic ( ) const

overridevirtualnoexcept

Return the configured ROS topic.

Exceptions: Does not throw any exceptions.

Implements fkie_message_filters::PublisherBase.

◆ update_subscriber_state()

void fkie_message_filters::PublisherBase::update_subscriber_state ( )

protectedinherited

Cause all linked subscribers to subscribe or unsubscribe to their ROS topics.

This will check the return value of is_active() to determine if the publisher is active, and then call SubscriberBase::subscribe_impl() or SubscriberBase::unsubscribe_impl() accordingly.

Exceptions: Propagates exceptions raised by the implementation of the abstract class methods.

The documentation for this class was generated from the following files:

include/fkie_message_filters/camera_publisher.h
src/camera_publisher.cpp

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Detailed Description

Member Typedef Documentation

◆ Input

Constructor & Destructor Documentation

◆ CameraPublisher() [1/2]

◆ CameraPublisher() [2/2]

Member Function Documentation

◆ advertise() [1/2]

◆ advertise() [2/2]

◆ connect_to_source()

◆ disconnect()

◆ disconnect_from_all_sources()

◆ is_active()

◆ link_with_subscriber()

◆ receive()

◆ reset()

◆ topic()

◆ update_subscriber_state()