For devices with more than 1 camera, and different outputs, it's tedious to have to maintain 2 separate arrays of publishers, separate utility code, etc. Is it possible to inherit from ros::Publisher (or ros::PublisherInterface)? There will be small per regression due to the virtual call, but the modern deep-pipelines shouldn't see a difference after a few iterations.
For devices with more than 1 camera, and different outputs, it's tedious to have to maintain 2 separate arrays of publishers, separate utility code, etc. Is it possible to inherit from
ros::Publisher(orros::PublisherInterface)? There will be small per regression due to the virtual call, but the modern deep-pipelines shouldn't see a difference after a few iterations.