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support lifecycle nodes #167

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20 changes: 20 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 @@ -76,6 +76,26 @@ class CameraPublisher
const std::string & base_topic,
rmw_qos_profile_t custom_qos = rmw_qos_profile_default);

IMAGE_TRANSPORT_PUBLIC
CameraPublisher(
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface,
const std::string & base_topic,
rmw_qos_profile_t custom_qos = rmw_qos_profile_default);

template<class NodeT>
CameraPublisher(
NodeT && node,
const std::string & base_topic,
rmw_qos_profile_t custom_qos = rmw_qos_profile_default)
: CameraPublisher(
node->get_node_base_interface(),
node->get_node_topics_interface(),
node->get_node_logging_interface(),
base_topic, custom_qos)
{}

//TODO(ros2) Restore support for SubscriberStatusCallbacks when available.

/*!
Expand Down
19 changes: 19 additions & 0 deletions image_transport/include/image_transport/camera_subscriber.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -79,6 +79,25 @@ class CameraSubscriber
const std::string& transport,
rmw_qos_profile_t = rmw_qos_profile_default);

IMAGE_TRANSPORT_PUBLIC
CameraSubscriber(
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface,
const std::string& base_topic,
const Callback& callback,
const std::string& transport,
rmw_qos_profile_t = rmw_qos_profile_default);

template<class NodeT>
CameraSubscriber(NodeT && node,
const std::string& base_topic,
const Callback& callback,
const std::string& transport,
rmw_qos_profile_t = rmw_qos_profile_default)
: CameraSubscriber(node->get_node_base_interface(), node->get_node_topics_interface(), node->get_node_logging_interface(), base_topic, callback, transport)
{}

/**
* \brief Get the base topic (on which the raw image is published).
*/
Expand Down
47 changes: 47 additions & 0 deletions image_transport/include/image_transport/image_transport.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -61,6 +61,14 @@ Publisher create_publisher(
const std::string & base_topic,
rmw_qos_profile_t custom_qos = rmw_qos_profile_default);

IMAGE_TRANSPORT_PUBLIC
Publisher create_publisher(
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface,
const std::string & base_topic,
rmw_qos_profile_t custom_qos = rmw_qos_profile_default);

/**
* \brief Subscribe to an image topic, free function version.
*/
Expand All @@ -72,6 +80,16 @@ Subscriber create_subscription(
const std::string & transport,
rmw_qos_profile_t custom_qos = rmw_qos_profile_default);

IMAGE_TRANSPORT_PUBLIC
Subscriber create_subscription(
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface,
const std::string & base_topic,
const Subscriber::Callback & callback,
const std::string & transport,
rmw_qos_profile_t custom_qos = rmw_qos_profile_default);

/*!
* \brief Advertise a camera, free function version.
*/
Expand All @@ -81,6 +99,14 @@ CameraPublisher create_camera_publisher(
const std::string & base_topic,
rmw_qos_profile_t custom_qos = rmw_qos_profile_default);

IMAGE_TRANSPORT_PUBLIC
CameraPublisher create_camera_publisher(
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface,
const std::string & base_topic,
rmw_qos_profile_t custom_qos = rmw_qos_profile_default);

/*!
* \brief Subscribe to a camera, free function version.
*/
Expand All @@ -92,6 +118,16 @@ CameraSubscriber create_camera_subscription(
const std::string & transport,
rmw_qos_profile_t custom_qos = rmw_qos_profile_default);

IMAGE_TRANSPORT_PUBLIC
CameraSubscriber create_camera_subscription(
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface,
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 @@ -115,6 +151,17 @@ class ImageTransport
IMAGE_TRANSPORT_PUBLIC
explicit ImageTransport(rclcpp::Node::SharedPtr node);

IMAGE_TRANSPORT_PUBLIC
ImageTransport(
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface);

template<class NodeT>
explicit ImageTransport(NodeT && node)
: ImageTransport(node->get_node_base_interface(), node->get_node_topics_interface(), node->get_node_logging_interface())
{}

IMAGE_TRANSPORT_PUBLIC
~ImageTransport();

Expand Down
23 changes: 22 additions & 1 deletion image_transport/include/image_transport/publisher.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -75,11 +75,32 @@ class Publisher

IMAGE_TRANSPORT_PUBLIC
Publisher(
rclcpp::Node * nh,
rclcpp::Node * node,
const std::string & base_topic,
PubLoaderPtr loader,
rmw_qos_profile_t custom_qos);

template<class NodeT>
Publisher(
NodeT && node,
const std::string & base_topic,
PubLoaderPtr loader,
rmw_qos_profile_t custom_qos)
: Publisher(
node->get_node_base_interface(),
node->get_node_topics_interface(),
node->get_node_logging_interface(),
base_topic, loader, custom_qos)
{}

IMAGE_TRANSPORT_PUBLIC
Publisher(
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface,
const std::string & base_topic,
PubLoaderPtr loader, rmw_qos_profile_t custom_qos);

/*!
* \brief Returns the number of subscribers that are currently connected to
* this Publisher.
Expand Down
20 changes: 20 additions & 0 deletions image_transport/include/image_transport/subscriber.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -81,6 +81,26 @@ class Subscriber
const std::string & transport,
rmw_qos_profile_t custom_qos = rmw_qos_profile_default);

IMAGE_TRANSPORT_PUBLIC
Subscriber(
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface,
const std::string & base_topic,
const Callback & callback,
SubLoaderPtr loader,
const std::string & transport,
rmw_qos_profile_t custom_qos = rmw_qos_profile_default);

template<class NodeT>
Subscriber(NodeT && node,
const std::string& base_topic,
const Callback& callback,
const std::string& transport,
rmw_qos_profile_t custom_qos = rmw_qos_profile_default)
: Subscriber(node->get_node_base_interface(), node->get_node_topics_interface(), node->get_node_logging_interface(), base_topic, callback, transport, custom_qos)
{}

/**
* \brief Returns the base image topic.
*
Expand Down
21 changes: 15 additions & 6 deletions image_transport/src/camera_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -46,8 +46,8 @@ namespace image_transport

struct CameraPublisher::Impl
{
Impl(rclcpp::Node * node)
: logger_(node->get_logger()),
Impl(rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logger_interface)
: logger_(logger_interface->get_logger()),
unadvertised_(false)
{
}
Expand Down Expand Up @@ -83,17 +83,26 @@ CameraPublisher::CameraPublisher(
rclcpp::Node * node,
const std::string & base_topic,
rmw_qos_profile_t custom_qos)
: impl_(std::make_shared<Impl>(node))
: CameraPublisher(node->get_node_base_interface(), node->get_node_topics_interface(), node->get_node_logging_interface(), base_topic, custom_qos)
{}

CameraPublisher::CameraPublisher(
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface,
const std::string & base_topic,
rmw_qos_profile_t custom_qos)
: impl_(std::make_shared<Impl>(node_logging_interface))
{
// Explicitly resolve name here so we compute the correct CameraInfo topic when the
// image topic is remapped (#4539).
std::string image_topic = rclcpp::expand_topic_or_service_name(base_topic,
node->get_name(), node->get_namespace());
node_base_interface->get_name(), node_base_interface->get_namespace());
std::string info_topic = getCameraInfoTopic(image_topic);

auto qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(custom_qos), custom_qos);
impl_->image_pub_ = image_transport::create_publisher(node, image_topic, custom_qos);
impl_->info_pub_ = node->create_publisher<sensor_msgs::msg::CameraInfo>(info_topic, qos);
impl_->image_pub_ = image_transport::create_publisher(node_base_interface, node_topics_interface, node_logging_interface, image_topic, custom_qos);
impl_->info_pub_ = rclcpp::create_publisher<sensor_msgs::msg::CameraInfo>(node_topics_interface, info_topic, qos);
}

size_t CameraPublisher::getNumSubscribers() const
Expand Down
74 changes: 66 additions & 8 deletions image_transport/src/image_transport.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -60,6 +60,16 @@ struct Impl

static Impl * kImpl = new Impl();

Publisher create_publisher(
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface,
const std::string & base_topic,
rmw_qos_profile_t custom_qos)
{
return Publisher(node_base_interface, node_topics_interface, node_logging_interface, base_topic, kImpl->pub_loader_, custom_qos);
}

Publisher create_publisher(
rclcpp::Node * node,
const std::string & base_topic,
Expand All @@ -68,6 +78,18 @@ Publisher create_publisher(
return Publisher(node, base_topic, kImpl->pub_loader_, custom_qos);
}

Subscriber create_subscription(
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface,
const std::string & base_topic,
const Subscriber::Callback & callback,
const std::string & transport,
rmw_qos_profile_t custom_qos)
{
return Subscriber(node_base_interface, node_topics_interface, node_logging_interface, base_topic, callback, kImpl->sub_loader_, transport, custom_qos);
}

Subscriber create_subscription(
rclcpp::Node * node,
const std::string & base_topic,
Expand All @@ -78,6 +100,16 @@ Subscriber create_subscription(
return Subscriber(node, base_topic, callback, kImpl->sub_loader_, transport, custom_qos);
}

CameraPublisher create_camera_publisher(
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface,
const std::string & base_topic,
rmw_qos_profile_t custom_qos)
{
return CameraPublisher(node_base_interface, node_topics_interface, node_logging_interface, base_topic, custom_qos);
}

CameraPublisher create_camera_publisher(
rclcpp::Node * node,
const std::string & base_topic,
Expand All @@ -86,6 +118,18 @@ CameraPublisher create_camera_publisher(
return CameraPublisher(node, base_topic, custom_qos);
}

CameraSubscriber create_camera_subscription(
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface,
const std::string & base_topic,
const CameraSubscriber::Callback & callback,
const std::string & transport,
rmw_qos_profile_t custom_qos)
{
return CameraSubscriber(node_base_interface, node_topics_interface, node_logging_interface, base_topic, callback, transport, custom_qos);
}

CameraSubscriber create_camera_subscription(
rclcpp::Node * node,
const std::string & base_topic,
Expand Down Expand Up @@ -130,13 +174,25 @@ std::vector<std::string> getLoadableTransports()

struct ImageTransport::Impl
{
rclcpp::Node::SharedPtr node_;
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface_;
rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface_;
rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface_;
//rclcpp::Node::SharedPtr node_;
};

ImageTransport::ImageTransport(rclcpp::Node::SharedPtr node)
: ImageTransport(node->get_node_base_interface(), node->get_node_topics_interface(), node->get_node_logging_interface())
{}

ImageTransport::ImageTransport(
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_interface,
rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_interface)
: impl_(std::make_unique<ImageTransport::Impl>())
{
impl_->node_ = node;
impl_->node_base_interface_ = node_base_interface;
impl_->node_topics_interface_ = node_topics_interface;
impl_->node_logging_interface_ = node_logging_interface;
}

ImageTransport::~ImageTransport() = default;
Expand All @@ -147,7 +203,7 @@ Publisher ImageTransport::advertise(const std::string & base_topic, uint32_t que
(void) latch;
rmw_qos_profile_t custom_qos = rmw_qos_profile_default;
custom_qos.depth = queue_size;
return create_publisher(impl_->node_.get(), base_topic, custom_qos);
return create_publisher(impl_->node_base_interface_, impl_->node_topics_interface_, impl_->node_logging_interface_, base_topic, custom_qos);
}

Subscriber ImageTransport::subscribe(
Expand All @@ -159,7 +215,7 @@ Subscriber ImageTransport::subscribe(
(void) tracked_object;
rmw_qos_profile_t custom_qos = rmw_qos_profile_default;
custom_qos.depth = queue_size;
return create_subscription(impl_->node_.get(), base_topic, callback,
return create_subscription(impl_->node_base_interface_, impl_->node_topics_interface_, impl_->node_logging_interface_, base_topic, callback,
getTransportOrDefault(transport_hints), custom_qos);
}

Expand All @@ -171,7 +227,7 @@ CameraPublisher ImageTransport::advertiseCamera(
(void) latch;
rmw_qos_profile_t custom_qos = rmw_qos_profile_default;
custom_qos.depth = queue_size;
return create_camera_publisher(impl_->node_.get(), base_topic, custom_qos);
return create_camera_publisher(impl_->node_base_interface_, impl_->node_topics_interface_, impl_->node_logging_interface_, base_topic, custom_qos);
}

CameraSubscriber ImageTransport::subscribeCamera(
Expand All @@ -183,7 +239,7 @@ CameraSubscriber ImageTransport::subscribeCamera(
(void) tracked_object;
rmw_qos_profile_t custom_qos = rmw_qos_profile_default;
custom_qos.depth = queue_size;
return create_camera_subscription(impl_->node_.get(), base_topic, callback,
return create_camera_subscription(impl_->node_base_interface_, impl_->node_topics_interface_, impl_->node_logging_interface_, base_topic, callback,
getTransportOrDefault(transport_hints), custom_qos);
}

Expand All @@ -201,8 +257,10 @@ std::string ImageTransport::getTransportOrDefault(const TransportHints * transpo
{
std::string ret;
if (nullptr == transport_hints) {
TransportHints th(impl_->node_.get());
ret = th.getTransport();
//TransportHints th(impl_->node_.get());
//ret = th.getTransport();
// TODO(karsten1987) fix
ret = transport_hints->getTransport();
} else {
ret = transport_hints->getTransport();
}
Expand Down
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