From 75636938cc1b2fc3c0f31c744c8c978d881f95d0 Mon Sep 17 00:00:00 2001
From: Christian Rauch <Christian.Rauch@unileoben.ac.at>
Date: Fri, 24 Jul 2026 10:18:42 +0200
Subject: [PATCH] use newer 'message_filters::Subscriber' constructor API

---
 orbbec_camera/CMakeLists.txt                     |  4 ++++
 .../image_sync_example_node.cpp                  |  8 +++++++-
 orbbec_camera/src/d2c_viewer.cpp                 | 16 ++++++++++++++--
 3 files changed, 25 insertions(+), 3 deletions(-)
 mode change 100644 => 100755 orbbec_camera/examples/multi_camera_time_sync/image_sync_example_node.cpp

diff --git a/orbbec_camera/CMakeLists.txt b/orbbec_camera/CMakeLists.txt
index e1bf8b7d..f497f989 100644
--- a/orbbec_camera/CMakeLists.txt
+++ b/orbbec_camera/CMakeLists.txt
@@ -53,6 +53,10 @@ endforeach()
 find_package(PkgConfig REQUIRED)
 find_package(OpenSSL REQUIRED)
 
+if(message_filters_VERSION VERSION_GREATER_EQUAL 5.0)
+    add_compile_definitions(message_filters_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/examples/multi_camera_time_sync/image_sync_example_node.cpp b/orbbec_camera/examples/multi_camera_time_sync/image_sync_example_node.cpp
old mode 100644
new mode 100755
index cc27f357..aa8e838c
--- a/orbbec_camera/examples/multi_camera_time_sync/image_sync_example_node.cpp
+++ b/orbbec_camera/examples/multi_camera_time_sync/image_sync_example_node.cpp
@@ -79,13 +79,19 @@ class ImageSyncNode : public rclcpp::Node {
     rclcpp::QoS qos{rclcpp::KeepLast(queue_size_)};
     qos.reliable();
 
+#ifdef message_filters_QoS
+    const rclcpp::QoS qos_prof = qos;
+#else
+    const rmw_qos_profile_t qos_prof = qos.get_rmw_qos_profile();
+#endif
+
     if (sync_topics_.size() == 1) {
       single_sub_ = this->create_subscription<Image>(
           sync_topics_.front(), qos,
           [this](const ImageConstPtr msg) { this->handle_synced_images({msg}); });
     } else {
       for (size_t i = 0; i < sync_topics_.size(); ++i) {
-        subscribers_[i].subscribe(this, sync_topics_[i], qos.get_rmw_qos_profile());
+        subscribers_[i].subscribe(this, sync_topics_[i], qos_prof);
       }
       create_synchronizer();
     }
diff --git a/orbbec_camera/src/d2c_viewer.cpp b/orbbec_camera/src/d2c_viewer.cpp
index d8a52802..0637f3f5 100644
--- a/orbbec_camera/src/d2c_viewer.cpp
+++ b/orbbec_camera/src/d2c_viewer.cpp
@@ -30,9 +30,21 @@ D2CViewer::D2CViewer(rclcpp::Node* const node, rmw_qos_profile_t rgb_qos,
                      rmw_qos_profile_t depth_qos, bool use_intra_process)
     : node_(node), logger_(rclcpp::get_logger("d2c_viewer")), is_active_(true) {
   rgb_sub_ = std::make_shared<message_filters::Subscriber<sensor_msgs::msg::Image>>(
-      node_, "color/image_raw", rgb_qos);
+      node_, "color/image_raw",
+#ifdef message_filters_QoS
+      rclcpp::QoS{rclcpp::QoSInitialization::from_rmw(rgb_qos), rgb_qos}
+#else
+      rgb_qos
+#endif
+  );
   depth_sub_ = std::make_shared<message_filters::Subscriber<sensor_msgs::msg::Image>>(
-      node_, "depth/image_raw", depth_qos);
+      node_, "depth/image_raw",
+#ifdef message_filters_QoS
+      rclcpp::QoS{rclcpp::QoSInitialization::from_rmw(depth_qos), depth_qos}
+#else
+      depth_qos
+#endif
+  );
   sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>(MySyncPolicy(10), *rgb_sub_,
                                                                         *depth_sub_);
   sync_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(1.0));  // 1s