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image_transport/republish: add in_queue_size/out_queue_size parameters #149

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image_transport/republish: add in_queue_size/out_queue_size parameters #149

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image_transport/republish: add in_queue_size/out_queue_size parameters
furushchev Dec 26, 2019
9824a31
Merge branch 'noetic-devel' into republish-queue-size
furushchev Dec 19, 2023
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15 changes: 10 additions & 5 deletions image_transport/src/republish.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,22 +43,27 @@ int main(int argc, char** argv)
printf("Usage: %s in_transport in:=<in_base_topic> [out_transport] out:=<out_base_topic>\n", argv[0]);
return 0;
}
ros::NodeHandle nh;
ros::NodeHandle nh(""), pnh("~");
std::string in_topic = nh.resolveName("in");
std::string in_transport = argv[1];
std::string out_topic = nh.resolveName("out");

int out_queue_size = 1;
pnh.param<int>("out_queue_size", out_queue_size, 1);
int in_queue_size = 1;
pnh.param<int>("in_queue_size", in_queue_size, 1);

image_transport::ImageTransport it(nh);
image_transport::Subscriber sub;

if (argc < 3) {
// Use all available transports for output
image_transport::Publisher pub = it.advertise(out_topic, 1);
image_transport::Publisher pub = it.advertise(out_topic, out_queue_size);

// Use Publisher::publish as the subscriber callback
typedef void (image_transport::Publisher::*PublishMemFn)(const sensor_msgs::ImageConstPtr&) const;
PublishMemFn pub_mem_fn = &image_transport::Publisher::publish;
sub = it.subscribe(in_topic, 1, boost::bind(pub_mem_fn, &pub, boost::placeholders::_1), ros::VoidPtr(), in_transport);
sub = it.subscribe(in_topic, in_queue_size, boost::bind(pub_mem_fn, &pub, boost::placeholders::_1), ros::VoidPtr(), in_transport);

ros::spin();
}
Expand All @@ -71,13 +76,13 @@ int main(int argc, char** argv)
pluginlib::ClassLoader<Plugin> loader("image_transport", "image_transport::PublisherPlugin");
std::string lookup_name = Plugin::getLookupName(out_transport);
boost::shared_ptr<Plugin> pub( loader.createInstance(lookup_name) );
pub->advertise(nh, out_topic, 1, image_transport::SubscriberStatusCallback(),
pub->advertise(nh, out_topic, out_queue_size, image_transport::SubscriberStatusCallback(),
image_transport::SubscriberStatusCallback(), ros::VoidPtr(), false);

// Use PublisherPlugin::publish as the subscriber callback
typedef void (Plugin::*PublishMemFn)(const sensor_msgs::ImageConstPtr&) const;
PublishMemFn pub_mem_fn = &Plugin::publish;
sub = it.subscribe(in_topic, 1, boost::bind(pub_mem_fn, pub.get(), boost::placeholders::_1), pub, in_transport);
sub = it.subscribe(in_topic, in_queue_size, boost::bind(pub_mem_fn, pub.get(), boost::placeholders::_1), pub, in_transport);

ros::spin();
}
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