/usr/include/polled_camera/publication_server.h is in libpolled-camera-dev 1.11.10-5.
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#ifndef POLLED_CAMERA_PUBLICATION_SERVER_H
#define POLLED_CAMERA_PUBLICATION_SERVER_H
#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CameraInfo.h>
#include "polled_camera/GetPolledImage.h"
namespace polled_camera {
/**
* \brief Manage image requests from one or more clients.
*
* Instances of polled_camera::PublicationServer should be created using one of
* the overloads of polled_camera::advertise(). You must specify a driver
* callback that populates the requested data:
\code
void callback(polled_camera::GetPolledImage::Request& req,
polled_camera::GetPolledImage::Response& rsp,
sensor_msgs::Image& image, sensor_msgs::CameraInfo& info)
{
// Capture an image and fill in the Image and CameraInfo messages here.
// On success, set rsp.success = true. rsp.timestamp will be filled in
// automatically.
// On failure, set rsp.success = false and fill rsp.status_message with an
// informative error message.
}
\endcode
*/
class PublicationServer
{
public:
typedef boost::function<void (polled_camera::GetPolledImage::Request&,
polled_camera::GetPolledImage::Response&,
sensor_msgs::Image&,
sensor_msgs::CameraInfo&)> DriverCallback;
PublicationServer() {}
/**
* \brief Unadvertise the request service and shut down all published topics.
*/
void shutdown();
std::string getService() const;
operator void*() const;
bool operator< (const PublicationServer& rhs) const { return impl_ < rhs.impl_; }
bool operator==(const PublicationServer& rhs) const { return impl_ == rhs.impl_; }
bool operator!=(const PublicationServer& rhs) const { return impl_ != rhs.impl_; }
private:
PublicationServer(const std::string& service, ros::NodeHandle& nh,
const DriverCallback& cb, const ros::VoidPtr& tracked_object);
class Impl;
boost::shared_ptr<Impl> impl_;
friend
PublicationServer advertise(ros::NodeHandle&, const std::string&, const DriverCallback&,
const ros::VoidPtr&);
};
/**
* \brief Advertise a polled image service, version for arbitrary boost::function object.
*/
PublicationServer advertise(ros::NodeHandle& nh, const std::string& service,
const PublicationServer::DriverCallback& cb,
const ros::VoidPtr& tracked_object = ros::VoidPtr());
/**
* \brief Advertise a polled image service, version for class member function with bare pointer.
*/
template<class T>
PublicationServer advertise(ros::NodeHandle& nh, const std::string& service,
void(T::*fp)(polled_camera::GetPolledImage::Request&,
polled_camera::GetPolledImage::Response&,
sensor_msgs::Image&, sensor_msgs::CameraInfo&),
T* obj)
{
return advertise(nh, service, boost::bind(fp, obj, _1, _2, _3, _4));
}
/**
* \brief Advertise a polled image service, version for class member function with bare pointer.
*/
template<class T>
PublicationServer advertise(ros::NodeHandle& nh, const std::string& service,
void(T::*fp)(polled_camera::GetPolledImage::Request&,
polled_camera::GetPolledImage::Response&,
sensor_msgs::Image&, sensor_msgs::CameraInfo&),
const boost::shared_ptr<T>& obj)
{
return advertise(nh, service, boost::bind(fp, obj.get(), _1, _2, _3, _4), obj);
}
} //namespace polled_camera
#endif
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