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gpu_image_builder_node.hpp
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/
gpu_image_builder_node.hpp
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// SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
// Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// SPDX-License-Identifier: Apache-2.0
#ifndef CUSTOM_NITROS_IMAGE__GPU_IMAGE_BUILDER_NODE_HPP_
#define CUSTOM_NITROS_IMAGE__GPU_IMAGE_BUILDER_NODE_HPP_
#include <memory>
#include "rclcpp/rclcpp.hpp"
#include "isaac_ros_managed_nitros/managed_nitros_publisher.hpp"
#include "sensor_msgs/msg/image.hpp"
#include "isaac_ros_nitros_image_type/nitros_image.hpp"
namespace custom_nitros_image
{
class GpuImageBuilderNode : public rclcpp::Node
{
public:
explicit GpuImageBuilderNode(const rclcpp::NodeOptions options = rclcpp::NodeOptions());
~GpuImageBuilderNode();
private:
void InputCallback(const sensor_msgs::msg::Image::SharedPtr msg);
// Subscription to input Image messages
rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr sub_;
// Publisher for output NitrosImage messages
std::shared_ptr<nvidia::isaac_ros::nitros::ManagedNitrosPublisher<
nvidia::isaac_ros::nitros::NitrosImage>> nitros_pub_;
};
} // namespace custom_nitros_image
#endif // CUSTOM_NITROS_IMAGE__GPU_IMAGE_BUILDER_NODE_HPP_