150 lines
4.1 KiB
C++
150 lines
4.1 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2010, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id: publisher.h 33238 2010-03-11 00:46:58Z rusu $
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*
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*/
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/**
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\author Patrick Mihelich
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@b Publisher represents a ROS publisher for the templated PointCloud implementation.
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**/
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#ifndef PCL_ROS_PUBLISHER_H_
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#define PCL_ROS_PUBLISHER_H_
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#include <ros/ros.h>
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#include <sensor_msgs/PointCloud2.h>
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#include <pcl/conversions.h>
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#include <pcl_conversions/pcl_conversions.h>
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namespace pcl_ros
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{
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class BasePublisher
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{
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public:
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void
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advertise (ros::NodeHandle& nh, const std::string& topic, uint32_t queue_size)
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{
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pub_ = nh.advertise<sensor_msgs::PointCloud2>(topic, queue_size);
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}
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std::string
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getTopic ()
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{
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return (pub_.getTopic ());
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}
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uint32_t
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getNumSubscribers () const
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{
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return (pub_.getNumSubscribers ());
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}
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void
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shutdown ()
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{
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pub_.shutdown ();
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}
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operator void*() const
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{
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return (pub_) ? (void*)1 : (void*)0;
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}
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protected:
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ros::Publisher pub_;
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};
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template <typename PointT>
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class Publisher : public BasePublisher
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{
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public:
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Publisher () {}
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Publisher (ros::NodeHandle& nh, const std::string& topic, uint32_t queue_size)
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{
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advertise (nh, topic, queue_size);
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}
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~Publisher () {}
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inline void
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publish (const boost::shared_ptr<const pcl::PointCloud<PointT> > &point_cloud) const
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{
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publish (*point_cloud);
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}
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inline void
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publish (const pcl::PointCloud<PointT>& point_cloud) const
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{
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// Fill point cloud binary data
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sensor_msgs::PointCloud2 msg;
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pcl::toROSMsg (point_cloud, msg);
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pub_.publish (boost::make_shared<const sensor_msgs::PointCloud2> (msg));
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}
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};
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template <>
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class Publisher<sensor_msgs::PointCloud2> : public BasePublisher
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{
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public:
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Publisher () {}
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Publisher (ros::NodeHandle& nh, const std::string& topic, uint32_t queue_size)
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{
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advertise (nh, topic, queue_size);
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}
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~Publisher () {}
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void
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publish (const sensor_msgs::PointCloud2Ptr& point_cloud) const
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{
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pub_.publish (point_cloud);
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//pub_.publish (*point_cloud);
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}
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void
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publish (const sensor_msgs::PointCloud2& point_cloud) const
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{
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pub_.publish (boost::make_shared<const sensor_msgs::PointCloud2> (point_cloud));
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//pub_.publish (point_cloud);
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}
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};
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}
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#endif //#ifndef PCL_ROS_PUBLISHER_H_
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