mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
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61 lines
2.3 KiB
C++
61 lines
2.3 KiB
C++
// Copyright 2023 Intel Corporation. All Rights Reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "orbbec_camera/image_publisher.h"
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namespace orbbec_camera {
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// --- image_rcl_publisher implementation ---
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image_rcl_publisher::image_rcl_publisher(rclcpp::Node& node, const std::string& topic_name,
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const rmw_qos_profile_t& qos) {
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image_publisher_impl = node.create_publisher<sensor_msgs::msg::Image>(
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topic_name, rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos), qos));
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}
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void image_rcl_publisher::publish(sensor_msgs::msg::Image::UniquePtr image_ptr) {
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image_publisher_impl->publish(std::move(image_ptr));
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}
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size_t image_rcl_publisher::get_subscription_count() const {
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return image_publisher_impl->get_subscription_count();
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}
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// --- image_transport_publisher implementation ---
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image_transport_publisher::image_transport_publisher(rclcpp::Node& node,
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const std::string& topic_name,
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const rmw_qos_profile_t& qos) {
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image_publisher_impl =
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std::make_shared<image_transport::Publisher>(image_transport::create_publisher(
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#ifdef ORBBEC_IMAGE_TRANSPORT_USES_REQUIRED_INTERFACES
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image_transport::RequiredInterfaces{node},
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#else
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&node,
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#endif
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topic_name,
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#ifdef ORBBEC_IMAGE_TRANSPORT_USES_REQUIRED_INTERFACES
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rclcpp::QoS{rclcpp::QoSInitialization::from_rmw(qos), qos}
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#else
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qos
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#endif
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));
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}
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void image_transport_publisher::publish(sensor_msgs::msg::Image::UniquePtr image_ptr) {
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image_publisher_impl->publish(*image_ptr);
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}
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size_t image_transport_publisher::get_subscription_count() const {
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return image_publisher_impl->getNumSubscribers();
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}
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} // namespace orbbec_camera
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