SimpleImageInput Class Reference

Manages image input by creating subscribers for specified topics and handling image messages from these sources. More...

Inheritance diagram for SimpleImageInput:

Collaboration diagram for SimpleImageInput:

Public Member Functions
bool	configure () override
	Configures the SimpleImageInput by creating subscribers for each specified topic.
	SimpleImageInput (rclcpp_lifecycle::LifecycleNode::SharedPtr parent)
	Constructs a SimpleImageInput object and declares necessary parameters.
Public Member Functions inherited from Afferent
	Afferent (rclcpp_lifecycle::LifecycleNode::SharedPtr parent)
	Constructor for the Afferent class.
size_t	get_max_queue_size ()
	Gets the maximum queue size.
EfferentProcessMode	get_mode ()
	Gets the current processing mode.
template<class MessageT>
std::unique_ptr< MessageT >	get_msg ()
	Retrieves the next message from the queue, if available.
template<class MessageT>
std::unique_ptr< MessageT >	get_msg (std::unique_ptr< rclcpp::SerializedMessage > msg)
	Converts a serialized message to a typed message.
void	set_max_queue_size (size_t size)
	Sets the maximum queue size for storing messages.
void	set_mode (EfferentProcessMode mode, std::function< void(std::unique_ptr< rclcpp::SerializedMessage >)> cb=nullptr)
	Sets the processing mode and an optional callback function.

Additional Inherited Members
Public Types inherited from Afferent
enum	EfferentProcessMode { CALLBACK , ONDEMAND }
	Defines processing modes for serialized message handling. More...
Protected Member Functions inherited from Afferent
bool	create_subscriber (const std::string &topic, const std::string &type)
	Creates a subscriber for a specific topic and message type.
Protected Attributes inherited from Afferent
std::function< void(std::unique_ptr< rclcpp::SerializedMessage >)>	callback_
	Callback for serialized messages.
const size_t	MAX_DEFAULT_QUEUE_SIZE = 100
	Default maximum queue size.
size_t	max_queue_size_ {MAX_DEFAULT_QUEUE_SIZE}
	Maximum queue size.
EfferentProcessMode	mode_ {ONDEMAND}
	Current processing mode.
std::queue< std::unique_ptr< rclcpp::SerializedMessage > >	msg_queue_
	Queue for serialized messages.
rclcpp_lifecycle::LifecycleNode::SharedPtr	parent_
	Shared pointer to the parent node.
std::vector< std::shared_ptr< rclcpp::GenericSubscription > >	subs_
	List of subscriptions.

Detailed Description

Manages image input by creating subscribers for specified topics and handling image messages from these sources.

Constructor & Destructor Documentation

SimpleImageInput()

SimpleImageInput ( rclcpp_lifecycle::LifecycleNode::SharedPtr parent )

explicit

Constructs a SimpleImageInput object and declares necessary parameters.

Parameters

parent

Shared pointer to the lifecycle node managing this SimpleImageInput instance.

Member Function Documentation

configure()

bool configure ( )

overridevirtual

Configures the SimpleImageInput by creating subscribers for each specified topic.

This method retrieves the topic names from the parameter server and attempts to create a subscription for each topic to receive sensor_msgs::msg::Image messages.

Returns

True if all subscriptions are created successfully.

Implements Afferent.

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

• cs4home_core/test/SimpleImageInput.cpp