Added type adaptation to Image Publisher raw transport

image_transport/CMakeLists.txt

@@ -23,7 +23,7 @@ find_package(sensor_msgs REQUIRED)
 # Build image_transport library
 add_library(${PROJECT_NAME}
   src/camera_common.cpp
-  src/publisher.cpp
+  src/plugin_publisher.cpp
   src/subscriber.cpp
   src/single_subscriber_publisher.cpp
   src/camera_publisher.cpp

image_transport/default_plugins.xml

@@ -1,13 +1,4 @@
 <library path="image_transport_plugins">
-  <class
-    name="image_transport/raw_pub"
-    type="image_transport::RawPublisher"
-    base_class_type="image_transport::PublisherPlugin">
-    <description>
-      This is the default publisher. It publishes the Image as-is on the base topic.
-    </description>
-  </class>
-
   <class
     name="image_transport/raw_sub"
     type="image_transport::RawSubscriber"

image_transport/include/image_transport/image_transport.hpp

@@ -31,9 +31,11 @@
 
 #include <functional>
 #include <memory>
+#include <utility>
 #include <string>
 #include <vector>
 
+#include "loader_fwds.hpp"
 #include "rclcpp/node.hpp"
 
 #include "image_transport/camera_publisher.hpp"
@@ -46,6 +48,11 @@
 namespace image_transport
 {
 
+using Publisher = PublisherBase<sensor_msgs::msg::Image>;
+
+PubLoaderPtr getPubLoader();
+SubLoaderPtr getSubLoader();
+
 /*!
  * \brief Advertise an image topic, free function version.
  */
@@ -56,6 +63,21 @@ Publisher create_publisher(
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
   rclcpp::PublisherOptions options = rclcpp::PublisherOptions());
 
+template<
+  typename MessageT,
+  typename AllocatorT = std::allocator<void>,
+  typename PublisherT = PublisherBase<MessageT, AllocatorT>>
+std::shared_ptr<PublisherT>
+IMAGE_TRANSPORT_PUBLIC
+create_type_adapted_publisher(
+  rclcpp::Node * node,
+  const std::string & base_topic,
+  rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
+  rclcpp::PublisherOptions options = rclcpp::PublisherOptions())
+{
+  return std::make_shared<PublisherT>(node, base_topic, getPubLoader(), custom_qos, options);
+}
+
 /**
  * \brief Subscribe to an image topic, free function version.
  */
@@ -68,6 +90,21 @@ Subscriber create_subscription(
   rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
   rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions());
 
+template<typename AdapterT, typename CallbackT>
+typename rclcpp::Subscription<AdapterT>::SharedPtr create_type_adapted_subscription(
+  rclcpp::Node * node,
+  const std::string & base_topic,
+  CallbackT && callback,
+  rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
+  rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions())
+{
+  auto qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(custom_qos), custom_qos);
+  return node->create_subscription<AdapterT>(
+    base_topic, qos,
+    std::forward<CallbackT>(callback),
+    options);
+}
+
 /*!
  * \brief Advertise a camera, free function version.
  */

image_transport/include/image_transport/plugin_publisher.hpp

@@ -0,0 +1,125 @@
+// Copyright (c) 2009, Willow Garage, Inc.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the Willow Garage nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+#ifndef IMAGE_TRANSPORT__PLUGIN_PUBLISHER_HPP_
+#define IMAGE_TRANSPORT__PLUGIN_PUBLISHER_HPP_
+
+#include <memory>
+#include <string>
+
+#include "rclcpp/macros.hpp"
+#include "rclcpp/node.hpp"
+
+#include "sensor_msgs/msg/image.hpp"
+
+#include "image_transport/exception.hpp"
+#include "image_transport/loader_fwds.hpp"
+#include "image_transport/single_subscriber_publisher.hpp"
+#include "image_transport/visibility_control.hpp"
+
+namespace image_transport
+{
+
+/**
+ * \brief Manages advertisements of multiple transport options on an Image topic.
+ *
+ * Publisher is a drop-in replacement for ros::Publisher when publishing
+ * Image topics. In a minimally built environment, they behave the same; however,
+ * Publisher is extensible via plugins to publish alternative representations of
+ * the image on related subtopics. This is especially useful for limiting bandwidth and
+ * latency over a network connection, when you might (for example) use the theora plugin
+ * to transport the images as streamed video. All topics are published only on demand
+ * (i.e. if there are subscribers).
+ *
+ * A Publisher should always be created through a call to ImageTransport::advertise(),
+ * or copied from one that was.
+ * Once all copies of a specific Publisher go out of scope, any subscriber callbacks
+ * associated with that handle will stop being called. Once all Publisher for a
+ * given base topic go out of scope the topic (and all subtopics) will be unadvertised.
+ */
+class PluginPublisher
+{
+public:
+  IMAGE_TRANSPORT_PUBLIC
+  PluginPublisher() = default;
+
+  IMAGE_TRANSPORT_PUBLIC
+  PluginPublisher(
+    rclcpp::Node * nh,
+    const std::string & image_topic,
+    PubLoaderPtr loader,
+    rmw_qos_profile_t custom_qos,
+    rclcpp::PublisherOptions options = rclcpp::PublisherOptions());
+
+  /*!
+   * \brief Returns the number of subscribers that are currently connected to
+   * this Publisher.
+   *
+   * Returns the total number of subscribers to all advertised topics.
+   */
+  IMAGE_TRANSPORT_PUBLIC
+  size_t getNumSubscribers() const;
+
+  /*!
+   * \brief Publish an image on the topics associated with this Publisher.
+   */
+  IMAGE_TRANSPORT_PUBLIC
+  void publish(const sensor_msgs::msg::Image & message) const;
+
+  /*!
+   * \brief Publish an image on the topics associated with this Publisher.
+   */
+  IMAGE_TRANSPORT_PUBLIC
+  void publish(const sensor_msgs::msg::Image::ConstSharedPtr & message) const;
+
+  /*!
+   * \brief Shutdown the advertisements associated with this Publisher.
+   */
+  IMAGE_TRANSPORT_PUBLIC
+  void shutdown();
+
+  IMAGE_TRANSPORT_PUBLIC
+  operator void *() const;
+
+  IMAGE_TRANSPORT_PUBLIC
+  bool operator<(const PluginPublisher & rhs) const {return impl_ < rhs.impl_;}
+
+  IMAGE_TRANSPORT_PUBLIC
+  bool operator!=(const PluginPublisher & rhs) const {return impl_ != rhs.impl_;}
+
+  IMAGE_TRANSPORT_PUBLIC
+  bool operator==(const PluginPublisher & rhs) const {return impl_ == rhs.impl_;}
+
+private:
+  struct Impl;
+  std::shared_ptr<Impl> impl_;
+};
+
+}  // namespace image_transport
+
+#endif  // IMAGE_TRANSPORT__PLUGIN_PUBLISHER_HPP_