Struct TopicHandlerEntry

• Defined in File config.hpp

Struct Documentation

struct TopicHandlerEntry

Configuration for a single topic handler.

Each handler entry in the YAML config maps to this struct. The handler_type determines which handler factory is used.

Note: For simple forwarding with downsampling, use the gateway’s explicit_topics instead of creating a handler. Handlers are only needed for custom processing (e.g., image compression).

Public Members

std::string name

std::string handler_type

std::string input_topic

int queue_size = 10

int downsample_ratio = 1

bool scale_enabled = false

int target_width = 0

int target_height = 0

float scale_factor = 1.0f

bool jpeg_enabled = false

int jpeg_quality = 80

bool enable_voxel = true

bool enable_crop = true

bool use_worker_queue = true

bool use_raw_output = false

bool use_reliable_qos = false

float voxel_leaf_size = 0.1f

float max_radius = 50.0f

bool include_intensity = false