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use newer 'message_filters::Subscriber' constructor API

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This commit is contained in:
Christian Rauch
2026-07-24 10:53:27 +02:00
parent e018369304
commit 75636938cc
3 changed files with 25 additions and 3 deletions
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orbbec_camera/src/d2c_viewer.cpp
+14 -2
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@@ -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