Manages image output by creating publishers for specified topics and providing a method to publish image messages. More...

Inheritance diagram for SimpleImageOutput:

[legend]

Collaboration diagram for SimpleImageOutput:

[legend]

Public Member Functions
bool	configure ()
	Configures the SimpleImageOutput by creating publishers for each specified topic.

void	publish_image (sensor_msgs::msg::Image::UniquePtr msg)
	Publishes an image message to all configured topics.

	SimpleImageOutput (rclcpp_lifecycle::LifecycleNode::SharedPtr parent)
	Constructs a SimpleImageOutput object and declares necessary parameters.

Public Member Functions inherited from Efferent
	Efferent (rclcpp_lifecycle::LifecycleNode::SharedPtr parent)
	Constructs an Efferent object associated with a parent lifecycle node.

template<class MessageT>
void	publish (std::unique_ptr< MessageT > msg)
	Publishes a serialized message to all configured publishers.

Additional Inherited Members
Protected Member Functions inherited from Efferent
bool	create_publisher (const std::string &topic, const std::string &type)
	Creates a publisher for a specified topic and message type.

Protected Attributes inherited from Efferent
rclcpp_lifecycle::LifecycleNode::SharedPtr	parent_
	< Shared pointer to the parent lifecycle node.

std::vector< std::shared_ptr< rclcpp::GenericPublisher > >	pubs_

Detailed Description

Manages image output by creating publishers for specified topics and providing a method to publish image messages.

Constructor & Destructor Documentation

◆ SimpleImageOutput()

SimpleImageOutput ( rclcpp_lifecycle::LifecycleNode::SharedPtr parent )

explicit

Constructs a SimpleImageOutput object and declares necessary parameters.

Parameters

parent Shared pointer to the lifecycle node managing this SimpleImageOutput instance.

Member Function Documentation

◆ configure()

bool configure ( )

virtual

Configures the SimpleImageOutput by creating publishers for each specified topic.

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

Returns: True if all publishers are created successfully.

Implements Efferent.

◆ publish_image()

void publish_image ( sensor_msgs::msg::Image::UniquePtr msg )

Publishes an image message to all configured topics.