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Merged
ahcorde merged 15 commits into from
Aug 21, 2025
Merged

Support lifecycle node - NodeInterfaces #352

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3de255d
Support lifecycle node - NodeInterfaces
ahcorde Apr 8, 2025
946582a
review feedback and reduce code duplicity
ahcorde Apr 11, 2025
547f3e9
Removed rclcpp::Node
ahcorde May 28, 2025
7c3840c
Fix pybind_image_transport
ahcorde May 29, 2025
19ba989
Added deprecation warnings
ahcorde Jun 3, 2025
1f0fdec
Deprecated methods
ahcorde Jun 25, 2025
8db6316
Update image_transport/include/image_transport/camera_publisher.hpp
ahcorde Jul 1, 2025
98ac725
Merge branch 'rolling' into ahcorde/rolling/lifecycle
ahcorde Jul 1, 2025
a98d28e
Added feedback
ahcorde Jul 2, 2025
7a4d930
Simplify how to API is called
ahcorde Jul 3, 2025
9ebcb2a
Update image_transport/src/image_transport.cpp
ahcorde Jul 3, 2025
6bf7d3d
Added deprecation warning to rclcpp::Node*
ahcorde Jul 17, 2025
d89185d
make linters happy
ahcorde Jul 17, 2025
aaa464c
Merge remote-tracking branch 'origin/rolling' into ahcorde/rolling/li…
ahcorde Jul 21, 2025
a8f9810
Fixed test
ahcorde Jul 21, 2025
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35 changes: 34 additions & 1 deletion image_transport/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@ find_package(message_filters REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(sensor_msgs REQUIRED)

# Build image_transport library
Expand All @@ -37,6 +38,7 @@ target_include_directories(${PROJECT_NAME} PUBLIC
target_link_libraries(${PROJECT_NAME} PUBLIC
message_filters::message_filters
rclcpp::rclcpp
rclcpp_lifecycle::rclcpp_lifecycle
Comment thread
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Outdated
${sensor_msgs_TARGETS})
target_link_libraries(${PROJECT_NAME} PRIVATE
pluginlib::pluginlib)
Expand Down Expand Up @@ -105,7 +107,7 @@ install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})

ament_export_targets(export_${PROJECT_NAME})

ament_export_dependencies(message_filters rclcpp sensor_msgs pluginlib)
ament_export_dependencies(message_filters rclcpp rclcpp_lifecycle sensor_msgs pluginlib)
Comment thread
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Outdated

if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
Expand All @@ -129,30 +131,61 @@ if(BUILD_TESTING)
target_link_libraries(${PROJECT_NAME}-publisher ${PROJECT_NAME})
endif()


ament_add_gtest(${PROJECT_NAME}-publisher_lifecycle test/test_publisher_lifecycle.cpp)
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if(TARGET ${PROJECT_NAME}-publisher_lifecycle)
target_link_libraries(${PROJECT_NAME}-publisher_lifecycle ${PROJECT_NAME})
endif()

ament_add_gtest(${PROJECT_NAME}-subscriber test/test_subscriber.cpp)
if(TARGET ${PROJECT_NAME}-subscriber)
target_link_libraries(${PROJECT_NAME}-subscriber ${PROJECT_NAME})
endif()

ament_add_gtest(${PROJECT_NAME}-subscriber_lifecycle test/test_subscriber_lifecycle.cpp)
if(TARGET ${PROJECT_NAME}-subscriber_lifecycle)
target_link_libraries(${PROJECT_NAME}-subscriber_lifecycle ${PROJECT_NAME})
endif()

ament_add_gtest(${PROJECT_NAME}-message_passing test/test_message_passing.cpp)
if(TARGET ${PROJECT_NAME}-message_passing)
target_link_libraries(${PROJECT_NAME}-message_passing ${PROJECT_NAME})
endif()

ament_add_gtest(${PROJECT_NAME}-message_passing_lifecycle test/test_message_passing_lifecycle.cpp)
if(TARGET ${PROJECT_NAME}-message_passing_lifecycle)
target_link_libraries(${PROJECT_NAME}-message_passing_lifecycle ${PROJECT_NAME})
endif()

ament_add_gtest(${PROJECT_NAME}-remapping test/test_remapping.cpp)
if(TARGET ${PROJECT_NAME}-remapping)
target_link_libraries(${PROJECT_NAME}-remapping ${PROJECT_NAME})
endif()

ament_add_gtest(${PROJECT_NAME}-remapping_lifecycle test/test_remapping_lifecycle.cpp)
if(TARGET ${PROJECT_NAME}-remapping_lifecycle)
target_link_libraries(${PROJECT_NAME}-remapping_lifecycle ${PROJECT_NAME})
endif()

ament_add_gtest(${PROJECT_NAME}-qos_override test/test_qos_override.cpp)
if(TARGET ${PROJECT_NAME}-qos_override)
target_link_libraries(${PROJECT_NAME}-qos_override ${PROJECT_NAME})
endif()

ament_add_gtest(${PROJECT_NAME}-qos_override_lifecycle test/test_qos_override_lifecycle.cpp)
if(TARGET ${PROJECT_NAME}-qos_override_lifecycle)
target_link_libraries(${PROJECT_NAME}-qos_override_lifecycle ${PROJECT_NAME})
endif()

ament_add_gtest(${PROJECT_NAME}-single_subscriber_publisher test/test_single_subscriber_publisher.cpp)
if(TARGET ${PROJECT_NAME}-single_subscriber_publisher)
target_link_libraries(${PROJECT_NAME}-single_subscriber_publisher ${PROJECT_NAME})
endif()

ament_add_gtest(${PROJECT_NAME}-single_subscriber_publisher_lifecycle test/test_single_subscriber_publisher_lifecycle.cpp)
if(TARGET ${PROJECT_NAME}-single_subscriber_publisher_lifecycle)
target_link_libraries(${PROJECT_NAME}-single_subscriber_publisher_lifecycle ${PROJECT_NAME})
endif()
endif()

ament_package()
8 changes: 8 additions & 0 deletions image_transport/include/image_transport/camera_publisher.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,7 @@
#include "sensor_msgs/msg/image.hpp"
#include "sensor_msgs/msg/camera_info.hpp"

#include "image_transport/node_interfaces.hpp"
#include "image_transport/single_subscriber_publisher.hpp"
#include "image_transport/visibility_control.hpp"

Expand Down Expand Up @@ -74,6 +75,13 @@ class CameraPublisher
rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
rclcpp::PublisherOptions = rclcpp::PublisherOptions());

IMAGE_TRANSPORT_PUBLIC
CameraPublisher(
RequiredInterfaces node_interfaces,
const std::string & base_topic,
rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
rclcpp::PublisherOptions = rclcpp::PublisherOptions());

/*!
* \brief Returns the number of subscribers that are currently connected to
* this CameraPublisher.
Expand Down
9 changes: 9 additions & 0 deletions image_transport/include/image_transport/camera_subscriber.hpp
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@Benjamin-Tan Benjamin-Tan Apr 10, 2025

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Has compilation error:

/ros2_ws/src/image_common/image_transport/src/camera_subscriber.cpp: In constructor ‘image_transport::CameraSubscriber::CameraSubscriber(image_transport::RequiredInterfaces, const std::string&, const Callback&, const std::string&, rmw_qos_profile_t)’:
/ros2_ws/src/image_common/image_transport/src/camera_subscriber.cpp:162:29: error: no matching function for call to ‘message_filters::Subscriber<sensor_msgs::msg::CameraInfo_<std::allocator<void> > >::subscribe(image_transport::RequiredInterfaces&, std::string&, rmw_qos_profile_t&)’
  162 |   impl_->info_sub_.subscribe(required_test_interfaces, info_topic, custom_qos);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /ros2_ws/src/image_common/image_transport/src/camera_subscriber.cpp:34:
/opt/ros/rolling/include/message_filters/message_filters/subscriber.hpp:365:8: note: candidate: ‘void message_filters::Subscriber<M, NodeType>::subscribe(NodePtr, const std::string&, const rclcpp::QoS&) [with M = sensor_msgs::msg::CameraInfo_<std::allocator<void> >; NodeType = rclcpp::Node; NodePtr = std::shared_ptr<rclcpp::Node>; std::string = std::__cxx11::basic_string<char>]’
  365 |   void subscribe(
      |        ^~~~~~~~~
/opt/ros/rolling/include/message_filters/message_filters/subscriber.hpp:366:13: note:   no known conversion for argument 1 from ‘image_transport::RequiredInterfaces’ {aka ‘rclcpp::node_interfaces::NodeInterfaces<rclcpp::node_interfaces::NodeBaseInterface, rclcpp::node_interfaces::NodeParametersInterface, rclcpp::node_interfaces::NodeLoggingInterface, rclcpp::node_interfaces::NodeTimersInterface, rclcpp::node_interfaces::NodeTopicsInterface>’} to ‘message_filters::Subscriber<sensor_msgs::msg::CameraInfo_<std::allocator<void> > >::NodePtr’ {aka ‘std::shared_ptr<rclcpp::Node>’}
  366 |     NodePtr node, const std::string & topic,
      |     ~~~~~~~~^~~~
/opt/ros/rolling/include/message_filters/message_filters/subscriber.hpp:381:8: note: candidate: ‘void message_filters::Subscriber<M, NodeType>::subscribe(NodeType*, const std::string&, const rclcpp::QoS&) [with M = sensor_msgs::msg::CameraInfo_<std::allocator<void> >; NodeType = rclcpp::Node; std::string = std::__cxx11::basic_string<char>]’
  381 |   void subscribe(
      |        ^~~~~~~~~
/opt/ros/rolling/include/message_filters/message_filters/subscriber.hpp:382:16: note:   no known conversion for argument 1 from ‘image_transport::RequiredInterfaces’ {aka ‘rclcpp::node_interfaces::NodeInterfaces<rclcpp::node_interfaces::NodeBaseInterface, rclcpp::node_interfaces::NodeParametersInterface, rclcpp::node_interfaces::NodeLoggingInterface, rclcpp::node_interfaces::NodeTimersInterface, rclcpp::node_interfaces::NodeTopicsInterface>’} to ‘rclcpp::Node*’
  382 |     NodeType * node, const std::string & topic,
      |     ~~~~~~~~~~~^~~~
/opt/ros/rolling/include/message_filters/message_filters/subscriber.hpp:398:8: note: candidate: ‘void message_filters::Subscriber<M, NodeType>::subscribe(NodePtr, const std::string&, const rclcpp::QoS&, rclcpp::SubscriptionOptions) [with M = sensor_msgs::msg::CameraInfo_<std::allocator<void> >; NodeType = rclcpp::Node; NodePtr = std::shared_ptr<rclcpp::Node>; std::string = std::__cxx11::basic_string<char>; rclcpp::SubscriptionOptions = rclcpp::SubscriptionOptionsWithAllocator<std::allocator<void> >]’
  398 |   void subscribe(
      |        ^~~~~~~~~
/opt/ros/rolling/include/message_filters/message_filters/subscriber.hpp:398:8: note:   candidate expects 4 arguments, 3 provided
/opt/ros/rolling/include/message_filters/message_filters/subscriber.hpp:419:8: note: candidate: ‘void message_filters::Subscriber<M, NodeType>::subscribe(NodeType*, const std::string&, const rclcpp::QoS&, rclcpp::SubscriptionOptions) [with M = sensor_msgs::msg::CameraInfo_<std::allocator<void> >; NodeType = rclcpp::Node; std::string = std::__cxx11::basic_string<char>; rclcpp::SubscriptionOptions = rclcpp::SubscriptionOptionsWithAllocator<std::allocator<void> >]’
  419 |   void subscribe(
      |        ^~~~~~~~~
/opt/ros/rolling/include/message_filters/message_filters/subscriber.hpp:419:8: note:   candidate expects 4 arguments, 3 provided
/opt/ros/rolling/include/message_filters/message_filters/subscriber.hpp:451:8: note: candidate: ‘void message_filters::Subscriber<M, NodeType>::subscribe(NodePtr, const std::string&, rmw_qos_profile_t) [with M = sensor_msgs::msg::CameraInfo_<std::allocator<void> >; NodeType = rclcpp::Node; NodePtr = std::shared_ptr<rclcpp::Node>; std::string = std::__cxx11::basic_string<char>; rmw_qos_profile_t = rmw_qos_profile_s]’
  451 |   void subscribe(
      |        ^~~~~~~~~
/opt/ros/rolling/include/message_filters/message_filters/subscriber.hpp:452:13: note:   no known conversion for argument 1 from ‘image_transport::RequiredInterfaces’ {aka ‘rclcpp::node_interfaces::NodeInterfaces<rclcpp::node_interfaces::NodeBaseInterface, rclcpp::node_interfaces::NodeParametersInterface, rclcpp::node_interfaces::NodeLoggingInterface, rclcpp::node_interfaces::NodeTimersInterface, rclcpp::node_interfaces::NodeTopicsInterface>’} to ‘message_filters::Subscriber<sensor_msgs::msg::CameraInfo_<std::allocator<void> > >::NodePtr’ {aka ‘std::shared_ptr<rclcpp::Node>’}
  452 |     NodePtr node, const std::string & topic,
      |     ~~~~~~~~^~~~
/opt/ros/rolling/include/message_filters/message_filters/subscriber.hpp:470:8: note: candidate: ‘void message_filters::Subscriber<M, NodeType>::subscribe(NodeType*, const std::string&, rmw_qos_profile_t) [with M = sensor_msgs::msg::CameraInfo_<std::allocator<void> >; NodeType = rclcpp::Node; std::string = std::__cxx11::basic_string<char>; rmw_qos_profile_t = rmw_qos_profile_s]’
  470 |   void subscribe(
      |        ^~~~~~~~~
/opt/ros/rolling/include/message_filters/message_filters/subscriber.hpp:471:16: note:   no known conversion for argument 1 from ‘image_transport::RequiredInterfaces’ {aka ‘rclcpp::node_interfaces::NodeInterfaces<rclcpp::node_interfaces::NodeBaseInterface, rclcpp::node_interfaces::NodeParametersInterface, rclcpp::node_interfaces::NodeLoggingInterface, rclcpp::node_interfaces::NodeTimersInterface, rclcpp::node_interfaces::NodeTopicsInterface>’} to ‘rclcpp::Node*’
  471 |     NodeType * node, const std::string & topic,
      |     ~~~~~~~~~~~^~~~
/opt/ros/rolling/include/message_filters/message_filters/subscriber.hpp:490:8: note: candidate: ‘void message_filters::Subscriber<M, NodeType>::subscribe(NodePtr, const std::string&, rmw_qos_profile_t, rclcpp::SubscriptionOptions) [with M = sensor_msgs::msg::CameraInfo_<std::allocator<void> >; NodeType = rclcpp::Node; NodePtr = std::shared_ptr<rclcpp::Node>; std::string = std::__cxx11::basic_string<char>; rmw_qos_profile_t = rmw_qos_profile_s; rclcpp::SubscriptionOptions = rclcpp::SubscriptionOptionsWithAllocator<std::allocator<void> >]’
  490 |   void subscribe(
      |        ^~~~~~~~~
/opt/ros/rolling/include/message_filters/message_filters/subscriber.hpp:490:8: note:   candidate expects 4 arguments, 3 provided
/opt/ros/rolling/include/message_filters/message_filters/subscriber.hpp:512:8: note: candidate: ‘void message_filters::Subscriber<M, NodeType>::subscribe(NodeType*, const std::string&, rmw_qos_profile_t, rclcpp::SubscriptionOptions) [with M = sensor_msgs::msg::CameraInfo_<std::allocator<void> >; NodeType = rclcpp::Node; std::string = std::__cxx11::basic_string<char>; rmw_qos_profile_t = rmw_qos_profile_s; rclcpp::SubscriptionOptions = rclcpp::SubscriptionOptionsWithAllocator<std::allocator<void> >]’
  512 |   void subscribe(
      |        ^~~~~~~~~
/opt/ros/rolling/include/message_filters/message_filters/subscriber.hpp:512:8: note:   candidate expects 4 arguments, 3 provided
/opt/ros/rolling/include/message_filters/message_filters/subscriber.hpp:538:8: note: candidate: ‘void message_filters::Subscriber<M, NodeType>::subscribe() [with M = sensor_msgs::msg::CameraInfo_<std::allocator<void> >; NodeType = rclcpp::Node]’
  538 |   void subscribe() override
      |        ^~~~~~~~~
/opt/ros/rolling/include/message_filters/message_filters/subscriber.hpp:538:8: note:   candidate expects 0 arguments, 3 provided
gmake[2]: *** [CMakeFiles/image_transport.dir/build.make:146: CMakeFiles/image_transport.dir/src/camera_subscriber.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:189: CMakeFiles/image_transport.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< image_transport [6.97s, exited with code 2]

@authaldo authaldo Apr 11, 2025 •
edited
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I had no build problems on my machine, could it be that you are using an older version of the message filter package? The PR adapting the interface to rclcpp::NodeInterfaces (this commit) has just been merged a few days ago, thus, you'll likely need the current rolling branch for compatibility.

@Benjamin-Tan Benjamin-Tan Apr 12, 2025

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You are right. It is good when I build message_filters from source since the binary is not released just yet.

Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,7 @@
#include "sensor_msgs/msg/camera_info.hpp"
#include "sensor_msgs/msg/image.hpp"

#include "image_transport/node_interfaces.hpp"
#include "image_transport/visibility_control.hpp"

namespace image_transport
Expand Down Expand Up @@ -77,6 +78,14 @@ class CameraSubscriber
const std::string & transport,
rmw_qos_profile_t = rmw_qos_profile_default);

IMAGE_TRANSPORT_PUBLIC
CameraSubscriber(
RequiredInterfaces node_interfaces,
const std::string & base_topic,
const Callback & callback,
const std::string & transport,
rmw_qos_profile_t = rmw_qos_profile_default);

/**
* \brief Get the base topic (on which the raw image is published).
*/
Expand Down
48 changes: 47 additions & 1 deletion image_transport/include/image_transport/image_transport.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,7 @@

#include "image_transport/camera_publisher.hpp"
#include "image_transport/camera_subscriber.hpp"
#include "image_transport/node_interfaces.hpp"
#include "image_transport/publisher.hpp"
#include "image_transport/subscriber.hpp"
#include "image_transport/transport_hints.hpp"
Expand All @@ -56,6 +57,13 @@ Publisher create_publisher(
rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
rclcpp::PublisherOptions options = rclcpp::PublisherOptions());

IMAGE_TRANSPORT_PUBLIC
Publisher create_publisher(
RequiredInterfaces node_interfaces,
const std::string & base_topic,
rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
rclcpp::PublisherOptions options = rclcpp::PublisherOptions());

/**
* \brief Subscribe to an image topic, free function version.
*/
Expand All @@ -68,6 +76,18 @@ Subscriber create_subscription(
rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions());

/**
* \brief Subscribe to an image topic, free function version.
*/
IMAGE_TRANSPORT_PUBLIC
Subscriber create_subscription(
RequiredInterfaces node_interfaces,
const std::string & base_topic,
const Subscriber::Callback & callback,
const std::string & transport,
rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions());

/*!
* \brief Advertise a camera, free function version.
*/
Expand All @@ -78,6 +98,17 @@ CameraPublisher create_camera_publisher(
rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
rclcpp::PublisherOptions pub_options = rclcpp::PublisherOptions());

/*!
* \brief Advertise a camera, free function version.
*/
IMAGE_TRANSPORT_PUBLIC
CameraPublisher create_camera_publisher(
RequiredInterfaces node_interfaces,
const std::string & base_topic,
rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
rclcpp::PublisherOptions pub_options = rclcpp::PublisherOptions());


/*!
* \brief Subscribe to a camera, free function version.
*/
Expand All @@ -89,6 +120,17 @@ CameraSubscriber create_camera_subscription(
const std::string & transport,
rmw_qos_profile_t custom_qos = rmw_qos_profile_default);

/*!
* \brief Subscribe to a camera, free function version.
*/
IMAGE_TRANSPORT_PUBLIC
CameraSubscriber create_camera_subscription(
RequiredInterfaces node_interfaces,
const std::string & base_topic,
const CameraSubscriber::Callback & callback,
const std::string & transport,
rmw_qos_profile_t custom_qos = rmw_qos_profile_default);

IMAGE_TRANSPORT_PUBLIC
std::vector<std::string> getDeclaredTransports();

Expand All @@ -112,6 +154,9 @@ class ImageTransport
IMAGE_TRANSPORT_PUBLIC
explicit ImageTransport(rclcpp::Node::SharedPtr node);

IMAGE_TRANSPORT_PUBLIC
explicit ImageTransport(RequiredInterfaces node_interfaces);

IMAGE_TRANSPORT_PUBLIC
ImageTransport(const ImageTransport & other);

Expand Down Expand Up @@ -372,7 +417,8 @@ class ImageTransport

struct ImageTransport::Impl
{
rclcpp::Node::SharedPtr node_;
rclcpp::Node::SharedPtr node_{nullptr};
RequiredInterfaces required_interfaces_;

@authaldo authaldo Apr 13, 2025 •
edited
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Out of curiosity: Why did you remove the old pointer in your second iteration?

In my view keeping this pointer was one key benefit of your suggested implementation, as it allowed to keep the image_transport_plugins unchanged. I would really appreciate a plugin interface centered around the rclcpp::NodeInterfaces as the long run solution, however, I cannot quantify the additional overhead caused by the synchronization need for both repositories. As a maintainer you have likely more insights regarding this topic.
Depending on how large that overhead is, I would see your first iteration which kept the pointer as an acceptable solution since backwards compatibility is included. The full switch to using only rclcpp::NodeInterfaces in the plugin interfaces may then still be carried later on (potentially including multiple steps / deprecation cycles for backwards compatibility?)

EDIT:

Did the first version which kept the old pointer even work with the unmodified rolling state of the plugins for you? Even though it compiles I would expect runtime problems, since the plugins (e.g. for compressed image transport) explicitly override advertiseImpl(rclcpp::Node * node, ...).

};

} // namespace image_transport
Expand Down
50 changes: 50 additions & 0 deletions image_transport/include/image_transport/node_interfaces.hpp
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Original file line number Diff line number Diff line change
@@ -0,0 +1,50 @@
// Copyright (c) 2025, Open Source Robotics Foundation, 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__NODE_INTERFACES_HPP_
#define IMAGE_TRANSPORT__NODE_INTERFACES_HPP_

#include <rclcpp/node_interfaces/node_interfaces.hpp>

namespace image_transport
{
using NodeParametersInterface = rclcpp::node_interfaces::NodeParametersInterface;
using NodeLoggingInterface = rclcpp::node_interfaces::NodeLoggingInterface;
using NodeTimersInterface = rclcpp::node_interfaces::NodeTimersInterface;
using NodeTopicsInterface = rclcpp::node_interfaces::NodeTopicsInterface;
using NodeBaseInterface = rclcpp::node_interfaces::NodeBaseInterface;

using RequiredInterfaces = rclcpp::node_interfaces::NodeInterfaces<
NodeBaseInterface,
NodeParametersInterface,
NodeLoggingInterface,
NodeTimersInterface,
NodeTopicsInterface>;
} // namespace image_transport

#endif // IMAGE_TRANSPORT__NODE_INTERFACES_HPP_
9 changes: 9 additions & 0 deletions image_transport/include/image_transport/publisher.hpp
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Expand Up @@ -38,6 +38,7 @@
#include "sensor_msgs/msg/image.hpp"

#include "image_transport/exception.hpp"
#include "image_transport/node_interfaces.hpp"
#include "image_transport/loader_fwds.hpp"
Comment thread
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#include "image_transport/single_subscriber_publisher.hpp"
#include "image_transport/visibility_control.hpp"
Expand Down Expand Up @@ -76,6 +77,14 @@ class Publisher
rmw_qos_profile_t custom_qos,
rclcpp::PublisherOptions options = rclcpp::PublisherOptions());

IMAGE_TRANSPORT_PUBLIC
Publisher(
RequiredInterfaces node_interfaces,
const std::string & base_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.
Expand Down
22 changes: 22 additions & 0 deletions image_transport/include/image_transport/publisher_plugin.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,7 @@
#include "rclcpp/node.hpp"
#include "sensor_msgs/msg/image.hpp"

#include "image_transport/node_interfaces.hpp"
#include "image_transport/single_subscriber_publisher.hpp"
#include "image_transport/visibility_control.hpp"

Expand Down Expand Up @@ -80,6 +81,18 @@ class PublisherPlugin
advertiseImpl(nh, base_topic, custom_qos, options);
}

/**
* \brief Advertise a topic, simple version.
*/
void advertise(
RequiredInterfaces node_interfaces,
const std::string & base_topic,
rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
rclcpp::PublisherOptions options = rclcpp::PublisherOptions())
{
advertiseImpl(node_interfaces, base_topic, custom_qos, options);
}

/**
* \brief Returns the number of subscribers that are currently connected to
* this PublisherPlugin.
Expand Down Expand Up @@ -160,6 +173,15 @@ class PublisherPlugin
const std::string & base_topic,
rmw_qos_profile_t custom_qos,
rclcpp::PublisherOptions options) = 0;

/**
* \brief Advertise a topic. Must be implemented by the subclass.
*/
virtual void advertiseImpl(
RequiredInterfaces node_interfaces,
const std::string & base_topic,
rmw_qos_profile_t custom_qos,
rclcpp::PublisherOptions options) = 0;
};

} // namespace image_transport
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26 changes: 26 additions & 0 deletions image_transport/include/image_transport/simple_publisher_plugin.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -127,6 +127,25 @@ class SimplePublisherPlugin : public PublisherPlugin
simple_impl_->pub_ = node->create_publisher<M>(transport_topic, qos, options);
}

void advertiseImpl(
RequiredInterfaces node_interfaces,
const std::string & base_topic,
rmw_qos_profile_t custom_qos,
rclcpp::PublisherOptions options) override
{
std::string transport_topic = getTopicToAdvertise(base_topic);
simple_impl_ = std::make_unique<SimplePublisherPluginImpl>(node_interfaces);

RCLCPP_DEBUG(simple_impl_->logger_, "getTopicToAdvertise: %s", transport_topic.c_str());
auto qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(custom_qos), custom_qos);
auto parameters_interface = node_interfaces.get_node_parameters_interface();
auto topics_interface = node_interfaces.get_node_topics_interface();
simple_impl_->pub_ = rclcpp::create_publisher<M>(
parameters_interface,
topics_interface,
transport_topic, qos, options);
}

typedef typename rclcpp::Publisher<M>::SharedPtr PublisherT;

//! Generic function for publishing the internal message type.
Expand Down Expand Up @@ -195,7 +214,14 @@ class SimplePublisherPlugin : public PublisherPlugin
{
}

explicit SimplePublisherPluginImpl(RequiredInterfaces required_interfaces)
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: required_interfaces_(required_interfaces),
logger_(required_interfaces.get_node_logging_interface()->get_logger())
{
}

rclcpp::Node * node_;
RequiredInterfaces required_interfaces_;
rclcpp::Logger logger_;
PublisherT pub_;
};
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