From 4fa2c29fb20ac5af4165ad6d51a864b33bcfaf70 Mon Sep 17 00:00:00 2001
From: Christian Rauch <Christian.Rauch@unileoben.ac.at>
Date: Wed, 27 May 2026 13:08:33 +0200
Subject: [PATCH] update 'create_publisher' API

---
 orbbec_camera/CMakeLists.txt          |  8 ++++++++
 orbbec_camera/src/image_publisher.cpp | 14 +++++++++++++-
 2 files changed, 21 insertions(+), 1 deletion(-)

diff --git a/orbbec_camera/CMakeLists.txt b/orbbec_camera/CMakeLists.txt
index f497f989..79ef7880 100644
--- a/orbbec_camera/CMakeLists.txt
+++ b/orbbec_camera/CMakeLists.txt
@@ -57,6 +57,14 @@ if(message_filters_VERSION VERSION_GREATER_EQUAL 5.0)
     add_compile_definitions(message_filters_QoS)
 endif()
 
+if(image_transport_VERSION VERSION_GREATER_EQUAL 6.4)
+    add_compile_definitions(image_transport_NODE_INTERFACE)
+endif()
+
+if(image_transport_VERSION VERSION_GREATER_EQUAL 6.4)
+    add_compile_definitions(image_transport_QoS)
+endif()
+
 if(USE_RK_HW_DECODER)
     pkg_search_module(RK_MPP REQUIRED rockchip_mpp)
     if(NOT RK_MPP_FOUND)
diff --git a/orbbec_camera/src/image_publisher.cpp b/orbbec_camera/src/image_publisher.cpp
index a68d1513..7283cb8d 100644
--- a/orbbec_camera/src/image_publisher.cpp
+++ b/orbbec_camera/src/image_publisher.cpp
@@ -36,7 +36,19 @@ image_transport_publisher::image_transport_publisher(rclcpp::Node& node,
                                                      const std::string& topic_name,
                                                      const rmw_qos_profile_t& qos) {
   image_publisher_impl = std::make_shared<image_transport::Publisher>(
-      image_transport::create_publisher(&node, topic_name, qos));
+      image_transport::create_publisher(
+#ifdef image_transport_NODE_INTERFACE
+          image_transport::RequiredInterfaces{node},
+#else
+          &node,
+#endif
+          topic_name,
+#ifdef image_transport_QoS
+          rclcpp::QoS{rclcpp::QoSInitialization::from_rmw(qos), qos}
+#else
+          qos
+#endif
+  ));
 }
 void image_transport_publisher::publish(sensor_msgs::msg::Image::UniquePtr image_ptr) {
   image_publisher_impl->publish(*image_ptr);