22 #ifndef __PLUGINS_ROS_IMAGE_THREAD_H_
23 #define __PLUGINS_ROS_IMAGE_THREAD_H_
25 #include <core/threading/thread.h>
26 #include <aspect/blocked_timing.h>
27 #include <aspect/clock.h>
28 #include <aspect/configurable.h>
29 #include <aspect/logging.h>
30 #include <aspect/pointcloud.h>
31 #include <plugins/ros/aspect/ros.h>
32 #include <core/threading/mutex.h>
37 #include <ros/node_handle.h>
38 #include <image_transport/image_transport.h>
39 #include <sensor_msgs/Image.h>
41 namespace firevision {
42 class SharedMemoryImageBuffer;
66 void get_sets(std::set<std::string> &missing_images,
67 std::set<std::string> &unbacked_images);
72 image_transport::Publisher pub;
73 sensor_msgs::Image msg;
78 std::map<std::string, PublisherInfo> pubs_;
80 image_transport::ImageTransport *it_;