From 53bec8ffda2a494cde8173e95cd1746242b62f4a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Sat, 20 Apr 2024 22:48:34 +0200
Subject: [PATCH 01/15] Add option for Publisher plugins to support publishing
 using Unique Ptr

---
 .../image_transport/publisher_plugin.hpp      | 20 +++++++++++++++++++
 1 file changed, 20 insertions(+)

diff --git a/image_transport/include/image_transport/publisher_plugin.hpp b/image_transport/include/image_transport/publisher_plugin.hpp
index d899349e..79350dca 100644
--- a/image_transport/include/image_transport/publisher_plugin.hpp
+++ b/image_transport/include/image_transport/publisher_plugin.hpp
@@ -59,6 +59,14 @@ class PublisherPlugin
    */
   virtual std::string getTransportName() const = 0;
 
+  /**
+   * \brief Check whether this plugin supports publishing using UniquePtr.
+   */
+  virtual bool supportsUniquePtrPub() const
+  {
+    return false;
+  }
+
   /**
    * \brief Advertise a topic, simple version.
    */
@@ -95,6 +103,18 @@ class PublisherPlugin
     publish(*message);
   }
 
+  /**
+   * \brief Publish an image using the transport associated with this PublisherPlugin.
+   * This version of the function can be used to optimize cases where the Plugin can 
+   * avoid doing copies of the data when having the ownership to the image message.
+   * Plugins that can take advantage of message ownership should overwrite this method
+   * along with supportsUniquePtrPub().
+   */
+  virtual void publishUniquePtr(sensor_msgs::msg::Image::UniquePtr message) const
+  {
+    publish(*message);
+  }
+
   /**
    * \brief Publish an image using the transport associated with this PublisherPlugin.
    * This version of the function can be used to optimize cases where you don't want to

From 02fec9823a643770818048465dbe760c203110b9 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Sat, 20 Apr 2024 22:50:00 +0200
Subject: [PATCH 02/15] Implement publishUniquePtr in simple publisher plugin

---
 .../simple_publisher_plugin.hpp               | 35 +++++++++++++++++--
 1 file changed, 32 insertions(+), 3 deletions(-)

diff --git a/image_transport/include/image_transport/simple_publisher_plugin.hpp b/image_transport/include/image_transport/simple_publisher_plugin.hpp
index f088c874..f29af8d7 100644
--- a/image_transport/include/image_transport/simple_publisher_plugin.hpp
+++ b/image_transport/include/image_transport/simple_publisher_plugin.hpp
@@ -89,7 +89,20 @@ class SimplePublisherPlugin : public PublisherPlugin
       return;
     }
 
-    publish(message, bindInternalPublisher(simple_impl_->pub_.get()));
+    publish(message, simple_impl_->pub_);
+  }
+
+  void publishUniquePtr(sensor_msgs::msg::Image::UniquePtr message) const override
+  {
+    if (!simple_impl_ || !simple_impl_->pub_) {
+      auto logger = simple_impl_ ? simple_impl_->logger_ : rclcpp::get_logger("image_transport");
+      RCLCPP_ERROR(
+        logger,
+        "Call to publish() on an invalid image_transport::SimplePublisherPlugin");
+      return;
+    }
+
+    publish(std::move(message), simple_impl_->pub_);
   }
 
   void shutdown() override
@@ -112,6 +125,8 @@ class SimplePublisherPlugin : public PublisherPlugin
     simple_impl_->pub_ = node->create_publisher<M>(transport_topic, qos, options);
   }
 
+  typedef typename rclcpp::Publisher<M>::SharedPtr PublisherT;
+
   //! Generic function for publishing the internal message type.
   typedef std::function<void (const M &)> PublishFn;
 
@@ -125,7 +140,21 @@ class SimplePublisherPlugin : public PublisherPlugin
    */
   virtual void publish(
     const sensor_msgs::msg::Image & message,
-    const PublishFn & publish_fn) const = 0;
+    const PublishFn & publish_fn) const {}
+
+  virtual void publish(
+    const sensor_msgs::msg::Image & message,
+    const PublisherT & publisher) const
+  {
+    publish(message, bindInternalPublisher(publisher.get()));
+  }
+
+  virtual void publish(
+    sensor_msgs::msg::Image::UniquePtr message,
+    const PublisherT & publisher) const
+  {
+    publish(*message, bindInternalPublisher(publisher.get()));
+  }
 
   /**
    * \brief Return the communication topic name for a given base topic.
@@ -148,7 +177,7 @@ class SimplePublisherPlugin : public PublisherPlugin
 
     rclcpp::Node * node_;
     rclcpp::Logger logger_;
-    typename rclcpp::Publisher<M>::SharedPtr pub_;
+    PublisherT pub_;
   };
 
   std::unique_ptr<SimplePublisherPluginImpl> simple_impl_;

From 5bb8381913a72f2ddb05a6b79e5f3388a1baa986 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Sat, 20 Apr 2024 22:50:34 +0200
Subject: [PATCH 03/15] Support UniquePtr publishing in raw publisher plugin

---
 .../include/image_transport/raw_publisher.hpp        | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/image_transport/include/image_transport/raw_publisher.hpp b/image_transport/include/image_transport/raw_publisher.hpp
index e52b26b9..eb1db760 100644
--- a/image_transport/include/image_transport/raw_publisher.hpp
+++ b/image_transport/include/image_transport/raw_publisher.hpp
@@ -56,12 +56,24 @@ class RawPublisher : public SimplePublisherPlugin<sensor_msgs::msg::Image>
     return "raw";
   }
 
+  virtual bool supportsUniquePtrPub() const
+  {
+    return true;
+  }
+
 protected:
   virtual void publish(const sensor_msgs::msg::Image & message, const PublishFn & publish_fn) const
   {
     publish_fn(message);
   }
 
+  virtual void publish(
+    sensor_msgs::msg::Image::UniquePtr message,
+    const PublisherT & publisher) const
+  {
+    publisher->publish(std::move(message));
+  }
+
   virtual std::string getTopicToAdvertise(const std::string & base_topic) const
   {
     return base_topic;

From 251c24be3f066523a74b009bcadf81dfb170586d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Sat, 20 Apr 2024 22:51:32 +0200
Subject: [PATCH 04/15] Implement UniquePtr publishing in image transport
 publishers

---
 .../image_transport/camera_publisher.hpp      | 21 +++++++++++
 .../include/image_transport/publisher.hpp     |  6 +++
 image_transport/src/camera_publisher.cpp      | 37 +++++++++++++++++++
 image_transport/src/publisher.cpp             | 31 ++++++++++++++++
 4 files changed, 95 insertions(+)

diff --git a/image_transport/include/image_transport/camera_publisher.hpp b/image_transport/include/image_transport/camera_publisher.hpp
index 9ed81b07..ad80328c 100644
--- a/image_transport/include/image_transport/camera_publisher.hpp
+++ b/image_transport/include/image_transport/camera_publisher.hpp
@@ -111,6 +111,14 @@ class CameraPublisher
     const sensor_msgs::msg::Image::ConstSharedPtr & image,
     const sensor_msgs::msg::CameraInfo::ConstSharedPtr & info) const;
 
+  /*!
+   * \brief Publish an (image, info) pair on the topics associated with this CameraPublisher.
+   */
+  IMAGE_TRANSPORT_PUBLIC
+  void publish(
+    sensor_msgs::msg::Image::UniquePtr image,
+    sensor_msgs::msg::CameraInfo::UniquePtr info) const;
+
   /*!
    * \brief Publish an (image, info) pair with given timestamp on the topics associated with
    * this CameraPublisher.
@@ -123,6 +131,19 @@ class CameraPublisher
     sensor_msgs::msg::Image & image, sensor_msgs::msg::CameraInfo & info,
     rclcpp::Time stamp) const;
 
+  /*!
+   * \brief Publish an (image, info) pair with given timestamp on the topics associated with
+   * this CameraPublisher.
+   *
+   * Convenience version, which sets the timestamps of both image and info to stamp before
+   * publishing.
+   */
+  IMAGE_TRANSPORT_PUBLIC
+  void publish(
+    sensor_msgs::msg::Image::UniquePtr image,
+    sensor_msgs::msg::CameraInfo::UniquePtr info,
+    rclcpp::Time stamp) const;
+
   /*!
    * \brief Shutdown the advertisements associated with this Publisher.
    */
diff --git a/image_transport/include/image_transport/publisher.hpp b/image_transport/include/image_transport/publisher.hpp
index dc28d017..4f529121 100644
--- a/image_transport/include/image_transport/publisher.hpp
+++ b/image_transport/include/image_transport/publisher.hpp
@@ -103,6 +103,12 @@ class Publisher
   IMAGE_TRANSPORT_PUBLIC
   void publish(const sensor_msgs::msg::Image::ConstSharedPtr & message) const;
 
+  /*!
+   * \brief Publish an image on the topics associated with this Publisher.
+   */
+  IMAGE_TRANSPORT_PUBLIC
+  void publish(sensor_msgs::msg::Image::UniquePtr message) const;
+
   /*!
    * \brief Shutdown the advertisements associated with this Publisher.
    */
diff --git a/image_transport/src/camera_publisher.cpp b/image_transport/src/camera_publisher.cpp
index 7c1ae450..1aa4dc2b 100644
--- a/image_transport/src/camera_publisher.cpp
+++ b/image_transport/src/camera_publisher.cpp
@@ -153,6 +153,23 @@ void CameraPublisher::publish(
   impl_->info_pub_->publish(*info);
 }
 
+void CameraPublisher::publish(
+  sensor_msgs::msg::Image::UniquePtr image,
+  sensor_msgs::msg::CameraInfo::UniquePtr info) const
+{
+  if (!impl_ || !impl_->isValid()) {
+    // TODO(ros2) Switch to RCUTILS_ASSERT when ros2/rcutils#112 is merged
+    auto logger = impl_ ? impl_->logger_ : rclcpp::get_logger("image_transport");
+    RCLCPP_FATAL(
+      logger,
+      "Call to publish() on an invalid image_transport::CameraPublisher");
+    return;
+  }
+
+  impl_->image_pub_.publish(std::move(image));
+  impl_->info_pub_->publish(std::move(info));
+}
+
 void CameraPublisher::publish(
   sensor_msgs::msg::Image & image, sensor_msgs::msg::CameraInfo & info,
   rclcpp::Time stamp) const
@@ -172,6 +189,26 @@ void CameraPublisher::publish(
   impl_->info_pub_->publish(info);
 }
 
+void CameraPublisher::publish(
+  sensor_msgs::msg::Image::UniquePtr image,
+  sensor_msgs::msg::CameraInfo::UniquePtr info,
+  rclcpp::Time stamp) const
+{
+  if (!impl_ || !impl_->isValid()) {
+    // TODO(ros2) Switch to RCUTILS_ASSERT when ros2/rcutils#112 is merged
+    auto logger = impl_ ? impl_->logger_ : rclcpp::get_logger("image_transport");
+    RCLCPP_FATAL(
+      logger,
+      "Call to publish() on an invalid image_transport::CameraPublisher");
+    return;
+  }
+
+  image->header.stamp = stamp;
+  info->header.stamp = stamp;
+  impl_->image_pub_.publish(std::move(image));
+  impl_->info_pub_->publish(std::move(info));
+}
+
 void CameraPublisher::shutdown()
 {
   if (impl_) {
diff --git a/image_transport/src/publisher.cpp b/image_transport/src/publisher.cpp
index 0bed7b09..33402791 100644
--- a/image_transport/src/publisher.cpp
+++ b/image_transport/src/publisher.cpp
@@ -202,6 +202,37 @@ void Publisher::publish(const sensor_msgs::msg::Image::ConstSharedPtr & message)
   }
 }
 
+void Publisher::publish(sensor_msgs::msg::Image::UniquePtr message) const
+{
+  if (!impl_ || !impl_->isValid()) {
+    // TODO(ros2) Switch to RCUTILS_ASSERT when ros2/rcutils#112 is merged
+    auto logger = impl_ ? impl_->logger_ : rclcpp::get_logger("image_transport");
+    RCLCPP_FATAL(logger, "Call to publish() on an invalid image_transport::Publisher");
+    return;
+  }
+
+  std::vector<std::shared_ptr<PublisherPlugin>> pubs_take_reference;
+  std::optional<std::shared_ptr<PublisherPlugin>> pub_takes_ownership = std::nullopt;
+
+  for (const auto & pub : impl_->publishers_) {
+    if (pub->getNumSubscribers() > 0) {
+      if (pub->supportsUniquePtrPub() && !pub_takes_ownership.has_value()) {
+        pub_takes_ownership = pub;
+      } else {
+        pubs_take_reference.push_back(pub);
+      }
+    }
+  }
+
+  for (const auto & pub : pubs_take_reference) {
+    pub->publish(*message);
+  }
+
+  if (pub_takes_ownership.has_value()) {
+    pub_takes_ownership.value()->publishUniquePtr(std::move(message));
+  }
+}
+
 void Publisher::shutdown()
 {
   if (impl_) {

From 6697bb00d4320159baf3baf974c70ff7f2e44a9f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Mon, 22 Apr 2024 12:47:44 +0000
Subject: [PATCH 05/15] Reformat using ament_uncrustify

---
 image_transport/include/image_transport/publisher_plugin.hpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/image_transport/include/image_transport/publisher_plugin.hpp b/image_transport/include/image_transport/publisher_plugin.hpp
index 79350dca..d80c304f 100644
--- a/image_transport/include/image_transport/publisher_plugin.hpp
+++ b/image_transport/include/image_transport/publisher_plugin.hpp
@@ -105,7 +105,7 @@ class PublisherPlugin
 
   /**
    * \brief Publish an image using the transport associated with this PublisherPlugin.
-   * This version of the function can be used to optimize cases where the Plugin can 
+   * This version of the function can be used to optimize cases where the Plugin can
    * avoid doing copies of the data when having the ownership to the image message.
    * Plugins that can take advantage of message ownership should overwrite this method
    * along with supportsUniquePtrPub().

From 4c2ef7f7ad4e0f6abb96681f788861ea74e1ed14 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Mon, 22 Apr 2024 12:48:52 +0000
Subject: [PATCH 06/15] Fix ament_cpplint errors

---
 image_transport/include/image_transport/raw_publisher.hpp        | 1 +
 .../include/image_transport/simple_publisher_plugin.hpp          | 1 +
 2 files changed, 2 insertions(+)

diff --git a/image_transport/include/image_transport/raw_publisher.hpp b/image_transport/include/image_transport/raw_publisher.hpp
index eb1db760..1cb08920 100644
--- a/image_transport/include/image_transport/raw_publisher.hpp
+++ b/image_transport/include/image_transport/raw_publisher.hpp
@@ -30,6 +30,7 @@
 #define IMAGE_TRANSPORT__RAW_PUBLISHER_HPP_
 
 #include <string>
+#include <utility>
 
 #include "sensor_msgs/msg/image.hpp"
 
diff --git a/image_transport/include/image_transport/simple_publisher_plugin.hpp b/image_transport/include/image_transport/simple_publisher_plugin.hpp
index f29af8d7..5ec5a348 100644
--- a/image_transport/include/image_transport/simple_publisher_plugin.hpp
+++ b/image_transport/include/image_transport/simple_publisher_plugin.hpp
@@ -31,6 +31,7 @@
 
 #include <memory>
 #include <string>
+#include <utility>
 
 #include "rclcpp/node.hpp"
 #include "rclcpp/logger.hpp"

From 77ad82f070a0999a1b106291f9e610101f41501a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Mon, 22 Apr 2024 13:29:51 +0000
Subject: [PATCH 07/15] Fix unused variable warnings

---
 .../include/image_transport/simple_publisher_plugin.hpp       | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/image_transport/include/image_transport/simple_publisher_plugin.hpp b/image_transport/include/image_transport/simple_publisher_plugin.hpp
index 5ec5a348..9bb978de 100644
--- a/image_transport/include/image_transport/simple_publisher_plugin.hpp
+++ b/image_transport/include/image_transport/simple_publisher_plugin.hpp
@@ -140,8 +140,8 @@ class SimplePublisherPlugin : public PublisherPlugin
    * single subscriber publishing (in subscription callbacks).
    */
   virtual void publish(
-    const sensor_msgs::msg::Image & message,
-    const PublishFn & publish_fn) const {}
+    const sensor_msgs::msg::Image & /*message*/,
+    const PublishFn & /*publish_fn*/) const {}
 
   virtual void publish(
     const sensor_msgs::msg::Image & message,

From 1ebb245183012c59e18a64bb94588b56c2e3167b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Mon, 22 Apr 2024 13:43:25 +0000
Subject: [PATCH 08/15] Remove redundant TODO comments

---
 image_transport/src/camera_publisher.cpp | 1 -
 image_transport/src/publisher.cpp        | 1 -
 2 files changed, 2 deletions(-)

diff --git a/image_transport/src/camera_publisher.cpp b/image_transport/src/camera_publisher.cpp
index 1aa4dc2b..ddc9050b 100644
--- a/image_transport/src/camera_publisher.cpp
+++ b/image_transport/src/camera_publisher.cpp
@@ -124,7 +124,6 @@ void CameraPublisher::publish(
   const sensor_msgs::msg::CameraInfo & info) const
 {
   if (!impl_ || !impl_->isValid()) {
-    // TODO(ros2) Switch to RCUTILS_ASSERT when ros2/rcutils#112 is merged
     auto logger = impl_ ? impl_->logger_ : rclcpp::get_logger("image_transport");
     RCLCPP_FATAL(
       logger,
diff --git a/image_transport/src/publisher.cpp b/image_transport/src/publisher.cpp
index 33402791..4eebee16 100644
--- a/image_transport/src/publisher.cpp
+++ b/image_transport/src/publisher.cpp
@@ -205,7 +205,6 @@ void Publisher::publish(const sensor_msgs::msg::Image::ConstSharedPtr & message)
 void Publisher::publish(sensor_msgs::msg::Image::UniquePtr message) const
 {
   if (!impl_ || !impl_->isValid()) {
-    // TODO(ros2) Switch to RCUTILS_ASSERT when ros2/rcutils#112 is merged
     auto logger = impl_ ? impl_->logger_ : rclcpp::get_logger("image_transport");
     RCLCPP_FATAL(logger, "Call to publish() on an invalid image_transport::Publisher");
     return;

From 134fa6fe257c70ef75010862514351855429c215 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Mon, 22 Apr 2024 13:44:32 +0000
Subject: [PATCH 09/15] Add missing include

---
 image_transport/src/publisher.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/image_transport/src/publisher.cpp b/image_transport/src/publisher.cpp
index 4eebee16..d467e54b 100644
--- a/image_transport/src/publisher.cpp
+++ b/image_transport/src/publisher.cpp
@@ -29,6 +29,7 @@
 #include "image_transport/publisher.hpp"
 
 #include <memory>
+#include <optional>
 #include <set>
 #include <string>
 #include <utility>

From 587fdab8c91d4df6ef8ce0057451c92e86b57a8a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Mon, 22 Apr 2024 13:45:14 +0000
Subject: [PATCH 10/15] Use new API in raw publisher

---
 image_transport/include/image_transport/raw_publisher.hpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/image_transport/include/image_transport/raw_publisher.hpp b/image_transport/include/image_transport/raw_publisher.hpp
index 1cb08920..c3391fa0 100644
--- a/image_transport/include/image_transport/raw_publisher.hpp
+++ b/image_transport/include/image_transport/raw_publisher.hpp
@@ -63,9 +63,9 @@ class RawPublisher : public SimplePublisherPlugin<sensor_msgs::msg::Image>
   }
 
 protected:
-  virtual void publish(const sensor_msgs::msg::Image & message, const PublishFn & publish_fn) const
+  virtual void publish(const sensor_msgs::msg::Image & message, const PublisherT & publisher) const
   {
-    publish_fn(message);
+    publisher->publish(message);
   }
 
   virtual void publish(

From 2606433b5102aef34e9bbf71402219b1655e7c27 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Fri, 26 Apr 2024 16:25:19 +0200
Subject: [PATCH 11/15] Restore old raw_publisher publish method, add
 deprecated attribute

---
 image_transport/include/image_transport/raw_publisher.hpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/image_transport/include/image_transport/raw_publisher.hpp b/image_transport/include/image_transport/raw_publisher.hpp
index c3391fa0..65fed4a7 100644
--- a/image_transport/include/image_transport/raw_publisher.hpp
+++ b/image_transport/include/image_transport/raw_publisher.hpp
@@ -63,6 +63,12 @@ class RawPublisher : public SimplePublisherPlugin<sensor_msgs::msg::Image>
   }
 
 protected:
+  [[deprecated("Use publish(const sensor_msgs::msg::Image&, const PublisherT&) instead.")]]
+  virtual void publish(const sensor_msgs::msg::Image & message, const PublishFn & publish_fn) const
+  {
+    publish_fn(message);
+  }
+
   virtual void publish(const sensor_msgs::msg::Image & message, const PublisherT & publisher) const
   {
     publisher->publish(message);

From e3bc5b262853599635f027d67addafb101160923 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Mon, 29 Apr 2024 02:00:16 +0000
Subject: [PATCH 12/15] Throw exceptions instead of empty/faulty default
 implementations

---
 .../include/image_transport/publisher_plugin.hpp   |  5 +++--
 .../image_transport/simple_publisher_plugin.hpp    | 14 ++++++++++----
 2 files changed, 13 insertions(+), 6 deletions(-)

diff --git a/image_transport/include/image_transport/publisher_plugin.hpp b/image_transport/include/image_transport/publisher_plugin.hpp
index d80c304f..c545b4ca 100644
--- a/image_transport/include/image_transport/publisher_plugin.hpp
+++ b/image_transport/include/image_transport/publisher_plugin.hpp
@@ -29,6 +29,7 @@
 #ifndef IMAGE_TRANSPORT__PUBLISHER_PLUGIN_HPP_
 #define IMAGE_TRANSPORT__PUBLISHER_PLUGIN_HPP_
 
+#include <stdexcept>
 #include <string>
 #include <vector>
 
@@ -110,9 +111,9 @@ class PublisherPlugin
    * Plugins that can take advantage of message ownership should overwrite this method
    * along with supportsUniquePtrPub().
    */
-  virtual void publishUniquePtr(sensor_msgs::msg::Image::UniquePtr message) const
+  virtual void publishUniquePtr(sensor_msgs::msg::Image::UniquePtr /*message*/) const
   {
-    publish(*message);
+    throw std::logic_error("publishUniquePtr() is not implemented.");
   }
 
   /**
diff --git a/image_transport/include/image_transport/simple_publisher_plugin.hpp b/image_transport/include/image_transport/simple_publisher_plugin.hpp
index 9bb978de..b3c177c3 100644
--- a/image_transport/include/image_transport/simple_publisher_plugin.hpp
+++ b/image_transport/include/image_transport/simple_publisher_plugin.hpp
@@ -30,6 +30,7 @@
 #define IMAGE_TRANSPORT__SIMPLE_PUBLISHER_PLUGIN_HPP_
 
 #include <memory>
+#include <stdexcept>
 #include <string>
 #include <utility>
 
@@ -141,7 +142,11 @@ class SimplePublisherPlugin : public PublisherPlugin
    */
   virtual void publish(
     const sensor_msgs::msg::Image & /*message*/,
-    const PublishFn & /*publish_fn*/) const {}
+    const PublishFn & /*publish_fn*/) const
+  {
+    throw std::logic_error(
+      "publish(const sensor_msgs::msg::Image&, const PublishFn&) is not implemented.");
+  }
 
   virtual void publish(
     const sensor_msgs::msg::Image & message,
@@ -151,10 +156,11 @@ class SimplePublisherPlugin : public PublisherPlugin
   }
 
   virtual void publish(
-    sensor_msgs::msg::Image::UniquePtr message,
-    const PublisherT & publisher) const
+    sensor_msgs::msg::Image::UniquePtr /*message*/,
+    const PublisherT & /*publisher*/) const
   {
-    publish(*message, bindInternalPublisher(publisher.get()));
+    throw std::logic_error(
+      "publish(sensor_msgs::msg::Image::UniquePtr, const PublisherT&) is not implemented.");
   }
 
   /**

From 70f40d1c7ae73988e6fffa979143be28648fe36f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Mon, 29 Apr 2024 02:01:21 +0000
Subject: [PATCH 13/15] Add more comments

---
 .../image_transport/simple_publisher_plugin.hpp | 17 +++++++++++++++--
 1 file changed, 15 insertions(+), 2 deletions(-)

diff --git a/image_transport/include/image_transport/simple_publisher_plugin.hpp b/image_transport/include/image_transport/simple_publisher_plugin.hpp
index b3c177c3..4ca77524 100644
--- a/image_transport/include/image_transport/simple_publisher_plugin.hpp
+++ b/image_transport/include/image_transport/simple_publisher_plugin.hpp
@@ -133,8 +133,9 @@ class SimplePublisherPlugin : public PublisherPlugin
   typedef std::function<void (const M &)> PublishFn;
 
   /**
-   * \brief Publish an image using the specified publish function. Must be implemented by
-   * the subclass.
+   * \brief Publish an image using the specified publish function.
+   *
+   * \deprecated Use publish(const sensor_msgs::msg::Image&, const PublisherT&) instead.
    *
    * The PublishFn publishes the transport-specific message type. This indirection allows
    * SimpleSubscriberPlugin to use this function for both normal broadcast publishing and
@@ -148,13 +149,25 @@ class SimplePublisherPlugin : public PublisherPlugin
       "publish(const sensor_msgs::msg::Image&, const PublishFn&) is not implemented.");
   }
 
+  /**
+   * \brief Publish an image using the specified publisher.
+   */
   virtual void publish(
     const sensor_msgs::msg::Image & message,
     const PublisherT & publisher) const
   {
+    // Fallback to old, deprecated method
     publish(message, bindInternalPublisher(publisher.get()));
   }
 
+  /**
+   * \brief Publish an image using the specified publisher.
+   *
+   * This version of the function can be used to optimize cases where the Plugin can
+   * avoid doing copies of the data when having the ownership to the image message.
+   * Plugins that can take advantage of message ownership should overwrite this method
+   * along with supportsUniquePtrPub().
+   */
   virtual void publish(
     sensor_msgs::msg::Image::UniquePtr /*message*/,
     const PublisherT & /*publisher*/) const

From 9beb1343fe780bef43134b852df226dd3dfd88aa Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Mon, 6 May 2024 20:54:52 +0200
Subject: [PATCH 14/15] Remove more redundant TODO comments

---
 image_transport/src/camera_publisher.cpp | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/image_transport/src/camera_publisher.cpp b/image_transport/src/camera_publisher.cpp
index ddc9050b..ced0a63c 100644
--- a/image_transport/src/camera_publisher.cpp
+++ b/image_transport/src/camera_publisher.cpp
@@ -140,7 +140,6 @@ void CameraPublisher::publish(
   const sensor_msgs::msg::CameraInfo::ConstSharedPtr & info) const
 {
   if (!impl_ || !impl_->isValid()) {
-    // TODO(ros2) Switch to RCUTILS_ASSERT when ros2/rcutils#112 is merged
     auto logger = impl_ ? impl_->logger_ : rclcpp::get_logger("image_transport");
     RCLCPP_FATAL(
       logger,
@@ -157,7 +156,6 @@ void CameraPublisher::publish(
   sensor_msgs::msg::CameraInfo::UniquePtr info) const
 {
   if (!impl_ || !impl_->isValid()) {
-    // TODO(ros2) Switch to RCUTILS_ASSERT when ros2/rcutils#112 is merged
     auto logger = impl_ ? impl_->logger_ : rclcpp::get_logger("image_transport");
     RCLCPP_FATAL(
       logger,
@@ -174,7 +172,6 @@ void CameraPublisher::publish(
   rclcpp::Time stamp) const
 {
   if (!impl_ || !impl_->isValid()) {
-    // TODO(ros2) Switch to RCUTILS_ASSERT when ros2/rcutils#112 is merged
     auto logger = impl_ ? impl_->logger_ : rclcpp::get_logger("image_transport");
     RCLCPP_FATAL(
       logger,
@@ -194,7 +191,6 @@ void CameraPublisher::publish(
   rclcpp::Time stamp) const
 {
   if (!impl_ || !impl_->isValid()) {
-    // TODO(ros2) Switch to RCUTILS_ASSERT when ros2/rcutils#112 is merged
     auto logger = impl_ ? impl_->logger_ : rclcpp::get_logger("image_transport");
     RCLCPP_FATAL(
       logger,

From 85f3da1a11409c74d73feae8f46ee5193d66a6ac Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C5=82a=C5=BCej=20Sowa?= <bsowa123@gmail.com>
Date: Wed, 15 May 2024 11:21:41 +0000
Subject: [PATCH 15/15] Add missing utility include

---
 image_transport/src/camera_publisher.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/image_transport/src/camera_publisher.cpp b/image_transport/src/camera_publisher.cpp
index ced0a63c..66c7d7f1 100644
--- a/image_transport/src/camera_publisher.cpp
+++ b/image_transport/src/camera_publisher.cpp
@@ -30,6 +30,7 @@
 
 #include <memory>
 #include <string>
+#include <utility>
 
 #include "rclcpp/expand_topic_or_service_name.hpp"
 #include "rclcpp/logging.hpp"