authaldo · authaldo · Nov 1, 2022 · Nov 3, 2022 · Nov 3, 2022 · Nov 4, 2022
diff --git a/image_transport/include/image_transport/camera_publisher.hpp b/image_transport/include/image_transport/camera_publisher.hpp
@@ -31,21 +31,20 @@
 
 #include <memory>
 #include <string>
+#include <utility>
 
 #include "rclcpp/macros.hpp"
-#include "rclcpp/node.hpp"
 
 #include "sensor_msgs/msg/image.hpp"
 #include "sensor_msgs/msg/camera_info.hpp"
 
 #include "image_transport/single_subscriber_publisher.hpp"
 #include "image_transport/visibility_control.hpp"
+#include "image_transport/node_interfaces.hpp"
 
 namespace image_transport
 {
 
-class ImageTransport;
-
 /**
  * \brief Manages advertisements for publishing camera images.
  *
@@ -69,11 +68,19 @@ class CameraPublisher
 
   IMAGE_TRANSPORT_PUBLIC
   CameraPublisher(
-    rclcpp::Node * node,
+    std::shared_ptr<RequiredInterfaces> node_interfaces,
     const std::string & base_topic,
     rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
     rclcpp::PublisherOptions = rclcpp::PublisherOptions());
 
+  template<typename NodeT>
+  IMAGE_TRANSPORT_PUBLIC
+  CameraPublisher(
+    NodeT && node,
+    const std::string & base_topic,
+    rmw_qos_profile_t custom_qos = rmw_qos_profile_default)
+    : CameraPublisher(create_node_interfaces(std::forward<NodeT>(node)), base_topic, custom_qos) {}
+
   /*!
    * \brief Returns the number of subscribers that are currently connected to
    * this CameraPublisher.

diff --git a/image_transport/include/image_transport/camera_subscriber.hpp b/image_transport/include/image_transport/camera_subscriber.hpp
@@ -32,19 +32,19 @@
 #include <functional>
 #include <memory>
 #include <string>
+#include <utility>
 
 #include "rclcpp/node.hpp"
 
 #include "sensor_msgs/msg/camera_info.hpp"
 #include "sensor_msgs/msg/image.hpp"
 
 #include "image_transport/visibility_control.hpp"
+#include "image_transport/node_interfaces.hpp"
 
 namespace image_transport
 {
 
-class ImageTransport;
-
 /**
  * \brief Manages a subscription callback on synchronized Image and CameraInfo topics.
  *
@@ -71,11 +71,23 @@ class CameraSubscriber
 
   IMAGE_TRANSPORT_PUBLIC
   CameraSubscriber(
-    rclcpp::Node * node,
+    std::shared_ptr<RequiredInterfaces> node_interfaces,
+    const std::string & base_topic,
+    const Callback & callback,
+    const std::string & transport,
+    rmw_qos_profile_t custom_qos = rmw_qos_profile_default);
+
+  template<typename NodeT>
+  IMAGE_TRANSPORT_PUBLIC
+  CameraSubscriber(
+    NodeT && node,
     const std::string & base_topic,
     const Callback & callback,
     const std::string & transport,
-    rmw_qos_profile_t = rmw_qos_profile_default);
+    rmw_qos_profile_t custom_qos = rmw_qos_profile_default)
+    : CameraSubscriber(create_node_interfaces(std::forward<NodeT>(node)),
+                                              base_topic, callback, transport,
+                                              custom_qos) {}
 
   /**
    * \brief Get the base topic (on which the raw image is published).

diff --git a/image_transport/include/image_transport/create_publisher.hpp b/image_transport/include/image_transport/create_publisher.hpp
@@ -0,0 +1,70 @@
+// Copyright (c) 2009, Willow Garage, 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__CREATE_PUBLISHER_HPP_
+#define IMAGE_TRANSPORT__CREATE_PUBLISHER_HPP_
+
+#include <functional>
+#include <memory>
+#include <string>
+#include <utility>
+
+#include "rclcpp/publisher_options.hpp"
+
+#include "image_transport/camera_publisher.hpp"
+#include "image_transport/publisher.hpp"
+#include "image_transport/node_interfaces.hpp"
+#include "image_transport/visibility_control.hpp"
+
+namespace image_transport
+{
+
+/*!
+ * \brief Advertise an image topic, free function version.
+ */
+IMAGE_TRANSPORT_PUBLIC
+Publisher create_publisher(
+  std::shared_ptr<RequiredInterfaces> node_interfaces,
+  const std::string & base_topic,
+  rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
+  rclcpp::PublisherOptions options = rclcpp::PublisherOptions());
+
+template<typename NodeT>
+Publisher create_publisher(
+  NodeT && node,
+  const std::string & base_topic,
+  rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
+  rclcpp::PublisherOptions options = rclcpp::PublisherOptions())
+{
+  return create_publisher(
+    create_node_interfaces(std::forward<NodeT>(node)), base_topic, custom_qos, options);
+}
+
+}  // namespace image_transport
+
+#endif  // IMAGE_TRANSPORT__CREATE_PUBLISHER_HPP_
diff --git a/image_transport/include/image_transport/create_subscription.hpp b/image_transport/include/image_transport/create_subscription.hpp
@@ -0,0 +1,74 @@
+// Copyright (c) 2009, Willow Garage, 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__CREATE_SUBSCRIPTION_HPP_
+#define IMAGE_TRANSPORT__CREATE_SUBSCRIPTION_HPP_
+
+#include <functional>
+#include <memory>
+#include <string>
+#include <utility>
+
+#include "rclcpp/subscription_options.hpp"
+
+#include "image_transport/subscriber.hpp"
+#include "image_transport/node_interfaces.hpp"
+#include "image_transport/visibility_control.hpp"
+
+namespace image_transport
+{
+
+/**
+ * \brief Subscribe to an image topic, free function version.
+ */
+IMAGE_TRANSPORT_PUBLIC
+Subscriber create_subscription(
+  std::shared_ptr<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());
+
+template<typename NodeT>
+Subscriber create_subscription(
+  NodeT && node,
+  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())
+{
+  return create_subscription(
+    create_node_interfaces(std::forward<NodeT>(node)),
+    base_topic, callback, transport, custom_qos, options);
+}
+
+}  // namespace image_transport
+
+#endif  // IMAGE_TRANSPORT__CREATE_SUBSCRIPTION_HPP_