[ros-users] Nodelets, image_transport, and shared_ptr

[Cedric Pradalier]

On 12/07/10 09:31, Patrick Mihelich wrote:
> If you publish a shared_ptr<sensor_msgs::Image> using raw transport, 
> image_transport takes advantage of roscpp's optimized intraprocess 
> message passing. So you can use image_transport to pass images in 
> nodelets.
>
> Generalizing image_transport to handle other representations - 
> including something like shared_ptr<cv::Mat> - is on my wishlist, but 
> too invasive to make it into Diamondback at this point.
>

Hi Patrick,

Would our message_transport plugin architecture help for that? I'm not 
sure exactly what you want to do with the shared_ptr<cv::Mat>, but our 
package generalise the concept of specialised transport to any type. It 
is basically a templated rewrite of the image_transport framework.

Depending on what you want to do, it may be just a couple of lines to 
change/add in message_transport.

More details: http://www.ros.org/wiki/ethzasl_message_transport

-- 
Dr. Cedric Pradalier
http://www.asl.ethz.ch/people/cedricp

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