feat: configure image publisher history depth

orbbec_camera/include/orbbec_camera/ob_camera_node.h

@@ -324,6 +324,8 @@ class OBCameraNode {
 
   void setupImagePublisher(const stream_index_pair& stream_index);
 
+  rmw_qos_profile_t getImageQosProfile(const stream_index_pair& stream_index) const;
+
   void setupPipelineConfig();
 
   void setupDiagnosticUpdater();
@@ -692,6 +694,8 @@ class OBCameraNode {
   std::string camera_link_frame_id_;
   bool depth_registration_ = false;
   std::map<stream_index_pair, std::string> image_qos_;
+  std::map<stream_index_pair, std::string> image_qos_history_;
+  std::map<stream_index_pair, int> image_qos_depth_;
   std::map<stream_index_pair, std::string> camera_info_qos_;
   std::map<stream_index_pair, ob_format> format_;
   std::map<stream_index_pair, std::string> format_str_;

orbbec_camera/launch/astra.launch.py

@@ -35,6 +35,8 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_color', default_value='true'),
         DeclareLaunchArgument('color_flip', default_value='false'),
         DeclareLaunchArgument('color_qos', default_value='default'),
+        DeclareLaunchArgument('color_qos_history', default_value='default'),
+        DeclareLaunchArgument('color_qos_depth', default_value='-1'),
         DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
         DeclareLaunchArgument('color_exposure', default_value='-1'),
@@ -48,6 +50,8 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_depth', default_value='true'),
         DeclareLaunchArgument('depth_flip', default_value='false'),
         DeclareLaunchArgument('depth_qos', default_value='default'),
+        DeclareLaunchArgument('depth_qos_history', default_value='default'),
+        DeclareLaunchArgument('depth_qos_depth', default_value='-1'),
         DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('ir_width', default_value='640'),
         DeclareLaunchArgument('ir_height', default_value='480'),
@@ -56,6 +60,8 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_ir', default_value='false'),
         DeclareLaunchArgument('ir_flip', default_value='false'),
         DeclareLaunchArgument('ir_qos', default_value='default'),
+        DeclareLaunchArgument('ir_qos_history', default_value='default'),
+        DeclareLaunchArgument('ir_qos_depth', default_value='-1'),
         DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
         DeclareLaunchArgument('ir_exposure', default_value='-1'),

orbbec_camera/launch/astra2.launch.py

@@ -34,6 +34,8 @@ def generate_launch_description():
         DeclareLaunchArgument("enable_color", default_value="true"),
         DeclareLaunchArgument("color_flip", default_value="false"),
         DeclareLaunchArgument("color_qos", default_value="default"),
+        DeclareLaunchArgument("color_qos_history", default_value="default"),
+        DeclareLaunchArgument("color_qos_depth", default_value="-1"),
         DeclareLaunchArgument("color_camera_info_qos", default_value="default"),
         DeclareLaunchArgument("enable_color_auto_exposure", default_value="true"),
         DeclareLaunchArgument("color_ae_max_exposure", default_value="-1"),
@@ -49,6 +51,8 @@ def generate_launch_description():
         DeclareLaunchArgument("enable_depth", default_value="true"),
         DeclareLaunchArgument("depth_flip", default_value="false"),
         DeclareLaunchArgument("depth_qos", default_value="default"),
+        DeclareLaunchArgument("depth_qos_history", default_value="default"),
+        DeclareLaunchArgument("depth_qos_depth", default_value="-1"),
         DeclareLaunchArgument("depth_camera_info_qos", default_value="default"),
         DeclareLaunchArgument("ir_width", default_value="800"),
         DeclareLaunchArgument("ir_height", default_value="600"),
@@ -57,6 +61,8 @@ def generate_launch_description():
         DeclareLaunchArgument("enable_ir", default_value="true"),
         DeclareLaunchArgument("ir_flip", default_value="false"),
         DeclareLaunchArgument("ir_qos", default_value="default"),
+        DeclareLaunchArgument("ir_qos_history", default_value="default"),
+        DeclareLaunchArgument("ir_qos_depth", default_value="-1"),
         DeclareLaunchArgument("ir_camera_info_qos", default_value="default"),
         DeclareLaunchArgument("enable_ir_auto_exposure", default_value="true"),
         DeclareLaunchArgument("ir_ae_max_exposure", default_value="-1"),

orbbec_camera/launch/dabai_a.launch.py

@@ -94,6 +94,8 @@ def generate_launch_description():
         DeclareLaunchArgument('color_format', default_value='ANY'),
         DeclareLaunchArgument('enable_color', default_value='true'),
         DeclareLaunchArgument('color_qos', default_value='default'),
+        DeclareLaunchArgument('color_qos_history', default_value='default'),
+        DeclareLaunchArgument('color_qos_depth', default_value='-1'),
         DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'),
         DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
@@ -116,6 +118,8 @@ def generate_launch_description():
         DeclareLaunchArgument('depth_format', default_value='ANY'),
         DeclareLaunchArgument('enable_depth', default_value='true'),
         DeclareLaunchArgument('depth_qos', default_value='default'),
+        DeclareLaunchArgument('depth_qos_history', default_value='default'),
+        DeclareLaunchArgument('depth_qos_depth', default_value='-1'),
         DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('enable_depth_auto_exposure_priority', default_value='false'),
         DeclareLaunchArgument('depth_precision', default_value=''),
@@ -126,6 +130,8 @@ def generate_launch_description():
         DeclareLaunchArgument('left_ir_format', default_value='ANY'),
         DeclareLaunchArgument('enable_left_ir', default_value='false'),
         DeclareLaunchArgument('left_ir_qos', default_value='default'),
+        DeclareLaunchArgument('left_ir_qos_history', default_value='default'),
+        DeclareLaunchArgument('left_ir_qos_depth', default_value='-1'),
         DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('right_ir_width', default_value='0'),
         DeclareLaunchArgument('right_ir_height', default_value='0'),
@@ -133,6 +139,8 @@ def generate_launch_description():
         DeclareLaunchArgument('right_ir_format', default_value='ANY'),
         DeclareLaunchArgument('enable_right_ir', default_value='false'),
         DeclareLaunchArgument('right_ir_qos', default_value='default'),
+        DeclareLaunchArgument('right_ir_qos_history', default_value='default'),
+        DeclareLaunchArgument('right_ir_qos_depth', default_value='-1'),
         DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
         DeclareLaunchArgument('ir_exposure', default_value='-1'),

orbbec_camera/launch/dabai_al.launch.py

@@ -94,6 +94,8 @@ def generate_launch_description():
         DeclareLaunchArgument('color_format', default_value='ANY'),
         DeclareLaunchArgument('enable_color', default_value='true'),
         DeclareLaunchArgument('color_qos', default_value='default'),
+        DeclareLaunchArgument('color_qos_history', default_value='default'),
+        DeclareLaunchArgument('color_qos_depth', default_value='-1'),
         DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'),
         DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
@@ -116,6 +118,8 @@ def generate_launch_description():
         DeclareLaunchArgument('depth_format', default_value='ANY'),
         DeclareLaunchArgument('enable_depth', default_value='true'),
         DeclareLaunchArgument('depth_qos', default_value='default'),
+        DeclareLaunchArgument('depth_qos_history', default_value='default'),
+        DeclareLaunchArgument('depth_qos_depth', default_value='-1'),
         DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('enable_depth_auto_exposure_priority', default_value='false'),
         DeclareLaunchArgument('depth_precision', default_value=''),
@@ -126,6 +130,8 @@ def generate_launch_description():
         DeclareLaunchArgument('left_ir_format', default_value='ANY'),
         DeclareLaunchArgument('enable_left_ir', default_value='false'),
         DeclareLaunchArgument('left_ir_qos', default_value='default'),
+        DeclareLaunchArgument('left_ir_qos_history', default_value='default'),
+        DeclareLaunchArgument('left_ir_qos_depth', default_value='-1'),
         DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('right_ir_width', default_value='0'),
         DeclareLaunchArgument('right_ir_height', default_value='0'),
@@ -133,6 +139,8 @@ def generate_launch_description():
         DeclareLaunchArgument('right_ir_format', default_value='ANY'),
         DeclareLaunchArgument('enable_right_ir', default_value='false'),
         DeclareLaunchArgument('right_ir_qos', default_value='default'),
+        DeclareLaunchArgument('right_ir_qos_history', default_value='default'),
+        DeclareLaunchArgument('right_ir_qos_depth', default_value='-1'),
         DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
         DeclareLaunchArgument('ir_exposure', default_value='-1'),

orbbec_camera/launch/dabai_dcw2.launch.py

@@ -35,6 +35,8 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_color', default_value='true'),
         DeclareLaunchArgument('flip_color', default_value='false'),
         DeclareLaunchArgument('color_qos', default_value='default'),
+        DeclareLaunchArgument('color_qos_history', default_value='default'),
+        DeclareLaunchArgument('color_qos_depth', default_value='-1'),
         DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
         DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'),
@@ -56,6 +58,8 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_depth', default_value='true'),
         DeclareLaunchArgument('flip_depth', default_value='false'),
         DeclareLaunchArgument('depth_qos', default_value='default'),
+        DeclareLaunchArgument('depth_qos_history', default_value='default'),
+        DeclareLaunchArgument('depth_qos_depth', default_value='-1'),
         DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
         # /config/depthfilter/Openni_device.json，need config path.
         DeclareLaunchArgument('depth_filter_config', default_value=''),
@@ -66,6 +70,8 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_ir', default_value='true'),
         DeclareLaunchArgument('flip_ir', default_value='false'),
         DeclareLaunchArgument('ir_qos', default_value='default'),
+        DeclareLaunchArgument('ir_qos_history', default_value='default'),
+        DeclareLaunchArgument('ir_qos_depth', default_value='-1'),
         DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
         DeclareLaunchArgument('ir_exposure', default_value='-1'),

orbbec_camera/launch/dabai_max_pro.launch.py

@@ -38,6 +38,8 @@ def generate_launch_description():
         DeclareLaunchArgument('color_mirror', default_value='false'),
         DeclareLaunchArgument('color_rotation', default_value='-1'),
         DeclareLaunchArgument('color_qos', default_value='default'),
+        DeclareLaunchArgument('color_qos_history', default_value='default'),
+        DeclareLaunchArgument('color_qos_depth', default_value='-1'),
         DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'),
         DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
@@ -63,6 +65,8 @@ def generate_launch_description():
         DeclareLaunchArgument('depth_exposure', default_value='-1'),
         DeclareLaunchArgument('depth_gain', default_value='-1'),
         DeclareLaunchArgument('depth_qos', default_value='default'),
+        DeclareLaunchArgument('depth_qos_history', default_value='default'),
+        DeclareLaunchArgument('depth_qos_depth', default_value='-1'),
         DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
         # /config/depthfilter/Openni_device.json，need config path.
         DeclareLaunchArgument('depth_filter_config', default_value=''),
@@ -73,6 +77,8 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_ir', default_value='true'),
         DeclareLaunchArgument('ir_flip', default_value='false'),
         DeclareLaunchArgument('ir_qos', default_value='default'),
+        DeclareLaunchArgument('ir_qos_history', default_value='default'),
+        DeclareLaunchArgument('ir_qos_depth', default_value='-1'),
         DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
         DeclareLaunchArgument('ir_exposure', default_value='-1'),

orbbec_camera/launch/femto.launch.py

@@ -33,6 +33,8 @@ def generate_launch_description():
         DeclareLaunchArgument("enable_color", default_value="true"),
         DeclareLaunchArgument("color_flip", default_value="false"),
         DeclareLaunchArgument("color_qos", default_value="default"),
+        DeclareLaunchArgument("color_qos_history", default_value="default"),
+        DeclareLaunchArgument("color_qos_depth", default_value="-1"),
         DeclareLaunchArgument("color_camera_info_qos", default_value="default"),
         DeclareLaunchArgument("enable_color_auto_exposure", default_value="true"),
         DeclareLaunchArgument("color_exposure", default_value="-1"),
@@ -48,6 +50,8 @@ def generate_launch_description():
         DeclareLaunchArgument("enable_depth", default_value="true"),
         DeclareLaunchArgument("depth_flip", default_value="false"),
         DeclareLaunchArgument("depth_qos", default_value="default"),
+        DeclareLaunchArgument("depth_qos_history", default_value="default"),
+        DeclareLaunchArgument("depth_qos_depth", default_value="-1"),
         DeclareLaunchArgument("depth_camera_info_qos", default_value="default"),
         DeclareLaunchArgument("ir_width", default_value="640"),
         DeclareLaunchArgument("ir_height", default_value="480"),
@@ -56,6 +60,8 @@ def generate_launch_description():
         DeclareLaunchArgument("enable_ir", default_value="true"),
         DeclareLaunchArgument("ir_flip", default_value="false"),
         DeclareLaunchArgument("ir_qos", default_value="default"),
+        DeclareLaunchArgument("ir_qos_history", default_value="default"),
+        DeclareLaunchArgument("ir_qos_depth", default_value="-1"),
         DeclareLaunchArgument("ir_camera_info_qos", default_value="default"),
         DeclareLaunchArgument("enable_ir_auto_exposure", default_value="true"),
         DeclareLaunchArgument("ir_exposure", default_value="-1"),

orbbec_camera/launch/femto_bolt.launch.py

@@ -34,6 +34,8 @@ def generate_launch_description():
         DeclareLaunchArgument("enable_color", default_value="true"),
         DeclareLaunchArgument("color_flip", default_value="false"),
         DeclareLaunchArgument("color_qos", default_value="default"),
+        DeclareLaunchArgument("color_qos_history", default_value="default"),
+        DeclareLaunchArgument("color_qos_depth", default_value="-1"),
         DeclareLaunchArgument("color_camera_info_qos", default_value="default"),
         DeclareLaunchArgument("enable_color_auto_exposure", default_value="true"),
         DeclareLaunchArgument("color_ae_max_exposure", default_value="-1"),
@@ -49,6 +51,8 @@ def generate_launch_description():
         DeclareLaunchArgument("enable_depth", default_value="true"),
         DeclareLaunchArgument("depth_flip", default_value="false"),
         DeclareLaunchArgument("depth_qos", default_value="default"),
+        DeclareLaunchArgument("depth_qos_history", default_value="default"),
+        DeclareLaunchArgument("depth_qos_depth", default_value="-1"),
         DeclareLaunchArgument("depth_camera_info_qos", default_value="default"),
         DeclareLaunchArgument("ir_width", default_value="640"),
         DeclareLaunchArgument("ir_height", default_value="576"),
@@ -57,6 +61,8 @@ def generate_launch_description():
         DeclareLaunchArgument("enable_ir", default_value="true"),
         DeclareLaunchArgument("ir_flip", default_value="false"),
         DeclareLaunchArgument("ir_qos", default_value="default"),
+        DeclareLaunchArgument("ir_qos_history", default_value="default"),
+        DeclareLaunchArgument("ir_qos_depth", default_value="-1"),
         DeclareLaunchArgument("ir_camera_info_qos", default_value="default"),
         DeclareLaunchArgument("enable_ir_auto_exposure", default_value="true"),
         DeclareLaunchArgument("ir_ae_max_exposure", default_value="-1"),

orbbec_camera/launch/femto_mega.launch.py

@@ -34,6 +34,8 @@ def generate_launch_description():
         DeclareLaunchArgument("enable_color", default_value="true"),
         DeclareLaunchArgument("color_flip", default_value="false"),
         DeclareLaunchArgument("color_qos", default_value="default"),
+        DeclareLaunchArgument("color_qos_history", default_value="default"),
+        DeclareLaunchArgument("color_qos_depth", default_value="-1"),
         DeclareLaunchArgument("color_camera_info_qos", default_value="default"),
         DeclareLaunchArgument("enable_color_auto_exposure", default_value="true"),
         DeclareLaunchArgument("color_ae_max_exposure", default_value="-1"),
@@ -49,6 +51,8 @@ def generate_launch_description():
         DeclareLaunchArgument("enable_depth", default_value="true"),
         DeclareLaunchArgument("depth_flip", default_value="false"),
         DeclareLaunchArgument("depth_qos", default_value="default"),
+        DeclareLaunchArgument("depth_qos_history", default_value="default"),
+        DeclareLaunchArgument("depth_qos_depth", default_value="-1"),
         DeclareLaunchArgument("depth_camera_info_qos", default_value="default"),
         DeclareLaunchArgument("ir_width", default_value="640"),
         DeclareLaunchArgument("ir_height", default_value="576"),
@@ -57,6 +61,8 @@ def generate_launch_description():
         DeclareLaunchArgument("enable_ir", default_value="true"),
         DeclareLaunchArgument("ir_flip", default_value="false"),
         DeclareLaunchArgument("ir_qos", default_value="default"),
+        DeclareLaunchArgument("ir_qos_history", default_value="default"),
+        DeclareLaunchArgument("ir_qos_depth", default_value="-1"),
         DeclareLaunchArgument("ir_camera_info_qos", default_value="default"),
         DeclareLaunchArgument("enable_ir_auto_exposure", default_value="true"),
         DeclareLaunchArgument("ir_ae_max_exposure", default_value="-1"),

orbbec_camera/launch/gemini2.launch.py

@@ -34,6 +34,8 @@ def generate_launch_description():
         DeclareLaunchArgument("enable_color", default_value="true"),
         DeclareLaunchArgument("color_flip", default_value="false"),
         DeclareLaunchArgument("color_qos", default_value="default"),
+        DeclareLaunchArgument("color_qos_history", default_value="default"),
+        DeclareLaunchArgument("color_qos_depth", default_value="-1"),
         DeclareLaunchArgument("color_camera_info_qos", default_value="default"),
         DeclareLaunchArgument("enable_color_auto_exposure", default_value="true"),
         DeclareLaunchArgument("color_ae_max_exposure", default_value="-1"),
@@ -57,6 +59,8 @@ def generate_launch_description():
         DeclareLaunchArgument("enable_depth", default_value="true"),
         DeclareLaunchArgument("depth_flip", default_value="false"),
         DeclareLaunchArgument("depth_qos", default_value="default"),
+        DeclareLaunchArgument("depth_qos_history", default_value="default"),
+        DeclareLaunchArgument("depth_qos_depth", default_value="-1"),
         DeclareLaunchArgument("depth_camera_info_qos", default_value="default"),
         DeclareLaunchArgument("depth_ae_roi_left", default_value="-1"),
         DeclareLaunchArgument("depth_ae_roi_right", default_value="-1"),
@@ -69,6 +73,8 @@ def generate_launch_description():
         DeclareLaunchArgument("enable_ir", default_value="true"),
         DeclareLaunchArgument("ir_flip", default_value="false"),
         DeclareLaunchArgument("ir_qos", default_value="default"),
+        DeclareLaunchArgument("ir_qos_history", default_value="default"),
+        DeclareLaunchArgument("ir_qos_depth", default_value="-1"),
         DeclareLaunchArgument("ir_camera_info_qos", default_value="default"),
         DeclareLaunchArgument("enable_ir_auto_exposure", default_value="true"),
         DeclareLaunchArgument("ir_ae_max_exposure", default_value="-1"),

orbbec_camera/launch/gemini210.launch.py

@@ -34,6 +34,8 @@ def generate_launch_description():
         DeclareLaunchArgument("enable_color", default_value="true"),
         DeclareLaunchArgument("color_flip", default_value="false"),
         DeclareLaunchArgument("color_qos", default_value="default"),
+        DeclareLaunchArgument("color_qos_history", default_value="default"),
+        DeclareLaunchArgument("color_qos_depth", default_value="-1"),
         DeclareLaunchArgument("color_camera_info_qos", default_value="default"),
         DeclareLaunchArgument("enable_color_auto_exposure", default_value="true"),
         DeclareLaunchArgument("color_ae_max_exposure", default_value="-1"),
@@ -55,6 +57,8 @@ def generate_launch_description():
         DeclareLaunchArgument("enable_depth", default_value="true"),
         DeclareLaunchArgument("depth_flip", default_value="false"),
         DeclareLaunchArgument("depth_qos", default_value="default"),
+        DeclareLaunchArgument("depth_qos_history", default_value="default"),
+        DeclareLaunchArgument("depth_qos_depth", default_value="-1"),
         DeclareLaunchArgument("depth_camera_info_qos", default_value="default"),
         DeclareLaunchArgument("depth_ae_roi_left", default_value="-1"),
         DeclareLaunchArgument("depth_ae_roi_right", default_value="-1"),
@@ -67,6 +71,8 @@ def generate_launch_description():
         DeclareLaunchArgument("enable_ir", default_value="true"),
         DeclareLaunchArgument("ir_flip", default_value="false"),
         DeclareLaunchArgument("ir_qos", default_value="default"),
+        DeclareLaunchArgument("ir_qos_history", default_value="default"),
+        DeclareLaunchArgument("ir_qos_depth", default_value="-1"),
         DeclareLaunchArgument("ir_camera_info_qos", default_value="default"),
         DeclareLaunchArgument("enable_ir_auto_exposure", default_value="true"),
         DeclareLaunchArgument("ir_ae_max_exposure", default_value="-1"),

orbbec_camera/launch/gemini2L.launch.py

@@ -96,6 +96,8 @@ def generate_launch_description():
         DeclareLaunchArgument("enable_color", default_value="true"),
         DeclareLaunchArgument("color_flip", default_value="false"),
         DeclareLaunchArgument("color_qos", default_value="default"),
+        DeclareLaunchArgument("color_qos_history", default_value="default"),
+        DeclareLaunchArgument("color_qos_depth", default_value="-1"),
         DeclareLaunchArgument("color_camera_info_qos", default_value="default"),
         DeclareLaunchArgument("enable_color_auto_exposure", default_value="true"),
         DeclareLaunchArgument("color_ae_max_exposure", default_value="-1"),
@@ -115,6 +117,8 @@ def generate_launch_description():
         DeclareLaunchArgument("enable_depth", default_value="true"),
         DeclareLaunchArgument("depth_flip", default_value="false"),
         DeclareLaunchArgument("depth_qos", default_value="default"),
+        DeclareLaunchArgument("depth_qos_history", default_value="default"),
+        DeclareLaunchArgument("depth_qos_depth", default_value="-1"),
         DeclareLaunchArgument("depth_camera_info_qos", default_value="default"),
         DeclareLaunchArgument("ir_width", default_value="640"),
         DeclareLaunchArgument("ir_height", default_value="400"),
@@ -123,6 +127,8 @@ def generate_launch_description():
         DeclareLaunchArgument("enable_ir", default_value="true"),
         DeclareLaunchArgument("ir_flip", default_value="false"),
         DeclareLaunchArgument("ir_qos", default_value="default"),
+        DeclareLaunchArgument("ir_qos_history", default_value="default"),
+        DeclareLaunchArgument("ir_qos_depth", default_value="-1"),
         DeclareLaunchArgument("ir_camera_info_qos", default_value="default"),
         DeclareLaunchArgument("enable_ir_auto_exposure", default_value="true"),
         DeclareLaunchArgument("ir_ae_max_exposure", default_value="-1"),

orbbec_camera/launch/gemini345.launch.py

@@ -93,6 +93,8 @@ def generate_launch_description():
         DeclareLaunchArgument('color_format', default_value='ANY'),
         DeclareLaunchArgument('enable_color', default_value='true'),
         DeclareLaunchArgument('color_qos', default_value='default'),
+        DeclareLaunchArgument('color_qos_history', default_value='default'),
+        DeclareLaunchArgument('color_qos_depth', default_value='-1'),
         DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'),
         DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
@@ -115,6 +117,8 @@ def generate_launch_description():
         DeclareLaunchArgument('depth_format', default_value='ANY'),
         DeclareLaunchArgument('enable_depth', default_value='true'),
         DeclareLaunchArgument('depth_qos', default_value='default'),
+        DeclareLaunchArgument('depth_qos_history', default_value='default'),
+        DeclareLaunchArgument('depth_qos_depth', default_value='-1'),
         DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('enable_depth_auto_exposure_priority', default_value='false'),
         DeclareLaunchArgument('depth_precision', default_value=''),
@@ -125,6 +129,8 @@ def generate_launch_description():
         DeclareLaunchArgument('left_ir_format', default_value='ANY'),
         DeclareLaunchArgument('enable_left_ir', default_value='false'),
         DeclareLaunchArgument('left_ir_qos', default_value='default'),
+        DeclareLaunchArgument('left_ir_qos_history', default_value='default'),
+        DeclareLaunchArgument('left_ir_qos_depth', default_value='-1'),
         DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('right_ir_width', default_value='0'),
         DeclareLaunchArgument('right_ir_height', default_value='0'),
@@ -132,6 +138,8 @@ def generate_launch_description():
         DeclareLaunchArgument('right_ir_format', default_value='ANY'),
         DeclareLaunchArgument('enable_right_ir', default_value='false'),
         DeclareLaunchArgument('right_ir_qos', default_value='default'),
+        DeclareLaunchArgument('right_ir_qos_history', default_value='default'),
+        DeclareLaunchArgument('right_ir_qos_depth', default_value='-1'),
         DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
         DeclareLaunchArgument('ir_exposure', default_value='-1'),

orbbec_camera/launch/gemini345_lg.launch.py

@@ -94,6 +94,8 @@ def generate_launch_description():
         DeclareLaunchArgument('color_format', default_value='ANY'),
         DeclareLaunchArgument('enable_color', default_value='true'),
         DeclareLaunchArgument('color_qos', default_value='default'),
+        DeclareLaunchArgument('color_qos_history', default_value='default'),
+        DeclareLaunchArgument('color_qos_depth', default_value='-1'),
         DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'),
         DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
@@ -116,6 +118,8 @@ def generate_launch_description():
         DeclareLaunchArgument('depth_format', default_value='ANY'),
         DeclareLaunchArgument('enable_depth', default_value='true'),
         DeclareLaunchArgument('depth_qos', default_value='default'),
+        DeclareLaunchArgument('depth_qos_history', default_value='default'),
+        DeclareLaunchArgument('depth_qos_depth', default_value='-1'),
         DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('enable_depth_auto_exposure_priority', default_value='false'),
         DeclareLaunchArgument('depth_precision', default_value=''),
@@ -126,6 +130,8 @@ def generate_launch_description():
         DeclareLaunchArgument('left_ir_format', default_value='ANY'),
         DeclareLaunchArgument('enable_left_ir', default_value='false'),
         DeclareLaunchArgument('left_ir_qos', default_value='default'),
+        DeclareLaunchArgument('left_ir_qos_history', default_value='default'),
+        DeclareLaunchArgument('left_ir_qos_depth', default_value='-1'),
         DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('right_ir_width', default_value='0'),
         DeclareLaunchArgument('right_ir_height', default_value='0'),
@@ -133,6 +139,8 @@ def generate_launch_description():
         DeclareLaunchArgument('right_ir_format', default_value='ANY'),
         DeclareLaunchArgument('enable_right_ir', default_value='false'),
         DeclareLaunchArgument('right_ir_qos', default_value='default'),
+        DeclareLaunchArgument('right_ir_qos_history', default_value='default'),
+        DeclareLaunchArgument('right_ir_qos_depth', default_value='-1'),
         DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
         DeclareLaunchArgument('ir_exposure', default_value='-1'),

orbbec_camera/launch/gemini435_le.launch.py

@@ -94,6 +94,8 @@ def generate_launch_description():
         DeclareLaunchArgument('color_format', default_value='ANY'),
         DeclareLaunchArgument('enable_color', default_value='true'),
         DeclareLaunchArgument('color_qos', default_value='default'),
+        DeclareLaunchArgument('color_qos_history', default_value='default'),
+        DeclareLaunchArgument('color_qos_depth', default_value='-1'),
         DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'),
         DeclareLaunchArgument('color_rotation', default_value='-1'),#color rotation degree : 0, 90, 180, 270
@@ -126,6 +128,8 @@ def generate_launch_description():
         DeclareLaunchArgument('depth_format', default_value='ANY'),
         DeclareLaunchArgument('enable_depth', default_value='true'),
         DeclareLaunchArgument('depth_qos', default_value='default'),
+        DeclareLaunchArgument('depth_qos_history', default_value='default'),
+        DeclareLaunchArgument('depth_qos_depth', default_value='-1'),
         DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('enable_depth_auto_exposure_priority', default_value='false'),
         DeclareLaunchArgument('depth_precision', default_value=''),
@@ -143,6 +147,8 @@ def generate_launch_description():
         DeclareLaunchArgument('left_ir_format', default_value='ANY'),
         DeclareLaunchArgument('enable_left_ir', default_value='false'),
         DeclareLaunchArgument('left_ir_qos', default_value='default'),
+        DeclareLaunchArgument('left_ir_qos_history', default_value='default'),
+        DeclareLaunchArgument('left_ir_qos_depth', default_value='-1'),
         DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('left_ir_rotation', default_value='-1'),#left_ir rotation degree : 0, 90, 180, 270
         DeclareLaunchArgument('left_ir_flip', default_value='false'),
@@ -153,6 +159,8 @@ def generate_launch_description():
         DeclareLaunchArgument('right_ir_format', default_value='ANY'),
         DeclareLaunchArgument('enable_right_ir', default_value='false'),
         DeclareLaunchArgument('right_ir_qos', default_value='default'),
+        DeclareLaunchArgument('right_ir_qos_history', default_value='default'),
+        DeclareLaunchArgument('right_ir_qos_depth', default_value='-1'),
         DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('right_ir_rotation', default_value='-1'),#right_ir rotation degree : 0, 90, 180, 270
         DeclareLaunchArgument('right_ir_flip', default_value='false'),

orbbec_camera/launch/gemini_301_series.launch.py

@@ -119,6 +119,8 @@ def generate_launch_description():
         DeclareLaunchArgument('color_format', default_value='YUYV'),
         DeclareLaunchArgument('enable_color', default_value='true'),
         DeclareLaunchArgument('color_qos', default_value='default'),
+        DeclareLaunchArgument('color_qos_history', default_value='default'),
+        DeclareLaunchArgument('color_qos_depth', default_value='-1'),
         DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'),
         DeclareLaunchArgument('color_rotation', default_value='-1'),#color rotation degree : 0, 90, 180, 270
@@ -155,6 +157,8 @@ def generate_launch_description():
         DeclareLaunchArgument('depth_format', default_value='Y16'),
         DeclareLaunchArgument('enable_depth', default_value='true'),
         DeclareLaunchArgument('depth_qos', default_value='default'),
+        DeclareLaunchArgument('depth_qos_history', default_value='default'),
+        DeclareLaunchArgument('depth_qos_depth', default_value='-1'),
         DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('enable_depth_auto_exposure_priority', default_value='false'),
         DeclareLaunchArgument('depth_precision', default_value=''),
@@ -173,6 +177,8 @@ def generate_launch_description():
         DeclareLaunchArgument('left_ir_format', default_value='Y8'),
         DeclareLaunchArgument('enable_left_ir', default_value='false'),
         DeclareLaunchArgument('left_ir_qos', default_value='default'),
+        DeclareLaunchArgument('left_ir_qos_history', default_value='default'),
+        DeclareLaunchArgument('left_ir_qos_depth', default_value='-1'),
         DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('left_ir_rotation', default_value='-1'),#left_ir rotation degree : 0, 90, 180, 270
         DeclareLaunchArgument('left_ir_flip', default_value='false'),
@@ -186,6 +192,8 @@ def generate_launch_description():
         DeclareLaunchArgument('right_ir_format', default_value='Y8'),
         DeclareLaunchArgument('enable_right_ir', default_value='false'),
         DeclareLaunchArgument('right_ir_qos', default_value='default'),
+        DeclareLaunchArgument('right_ir_qos_history', default_value='default'),
+        DeclareLaunchArgument('right_ir_qos_depth', default_value='-1'),
         DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('right_ir_rotation', default_value='-1'),#right_ir rotation degree : 0, 90, 180, 270
         DeclareLaunchArgument('right_ir_flip', default_value='false'),

orbbec_camera/launch/gemini_330_series.launch.py

@@ -108,6 +108,8 @@ def generate_launch_description():
         DeclareLaunchArgument('color_format', default_value='ANY'),
         DeclareLaunchArgument('enable_color', default_value='true'),
         DeclareLaunchArgument('color_qos', default_value='default'),
+        DeclareLaunchArgument('color_qos_history', default_value='default'),
+        DeclareLaunchArgument('color_qos_depth', default_value='-1'),
         DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'),
         DeclareLaunchArgument('color_rotation', default_value='-1'),#color rotation degree : 0, 90, 180, 270
@@ -144,6 +146,8 @@ def generate_launch_description():
         DeclareLaunchArgument('depth_format', default_value='ANY'),
         DeclareLaunchArgument('enable_depth', default_value='true'),
         DeclareLaunchArgument('depth_qos', default_value='default'),
+        DeclareLaunchArgument('depth_qos_history', default_value='default'),
+        DeclareLaunchArgument('depth_qos_depth', default_value='-1'),
         DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('enable_depth_auto_exposure_priority', default_value='false'),
         DeclareLaunchArgument('depth_precision', default_value=''),
@@ -161,6 +165,8 @@ def generate_launch_description():
         DeclareLaunchArgument('left_ir_format', default_value='ANY'),
         DeclareLaunchArgument('enable_left_ir', default_value='false'),
         DeclareLaunchArgument('left_ir_qos', default_value='default'),
+        DeclareLaunchArgument('left_ir_qos_history', default_value='default'),
+        DeclareLaunchArgument('left_ir_qos_depth', default_value='-1'),
         DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('left_ir_rotation', default_value='-1'),#left_ir rotation degree : 0, 90, 180, 270
         DeclareLaunchArgument('left_ir_flip', default_value='false'),
@@ -173,6 +179,8 @@ def generate_launch_description():
         DeclareLaunchArgument('right_ir_format', default_value='ANY'),
         DeclareLaunchArgument('enable_right_ir', default_value='false'),
         DeclareLaunchArgument('right_ir_qos', default_value='default'),
+        DeclareLaunchArgument('right_ir_qos_history', default_value='default'),
+        DeclareLaunchArgument('right_ir_qos_depth', default_value='-1'),
         DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('right_ir_rotation', default_value='-1'),#right_ir rotation degree : 0, 90, 180, 270
         DeclareLaunchArgument('right_ir_flip', default_value='false'),

orbbec_camera/launch/gemini_330_series_low_cpu.launch.py

@@ -96,6 +96,8 @@ def generate_launch_description():
         DeclareLaunchArgument('color_format', default_value='ANY'),
         DeclareLaunchArgument('enable_color', default_value='true'),
         DeclareLaunchArgument('color_qos', default_value='default'),
+        DeclareLaunchArgument('color_qos_history', default_value='default'),
+        DeclareLaunchArgument('color_qos_depth', default_value='-1'),
         DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'),
         DeclareLaunchArgument('color_rotation', default_value='-1'),#color rotation degree : 0, 90, 180, 270
@@ -132,6 +134,8 @@ def generate_launch_description():
         DeclareLaunchArgument('depth_format', default_value='ANY'),
         DeclareLaunchArgument('enable_depth', default_value='true'),
         DeclareLaunchArgument('depth_qos', default_value='default'),
+        DeclareLaunchArgument('depth_qos_history', default_value='default'),
+        DeclareLaunchArgument('depth_qos_depth', default_value='-1'),
         DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('enable_depth_auto_exposure_priority', default_value='false'),
         DeclareLaunchArgument('depth_precision', default_value=''),
@@ -149,6 +153,8 @@ def generate_launch_description():
         DeclareLaunchArgument('left_ir_format', default_value='ANY'),
         DeclareLaunchArgument('enable_left_ir', default_value='false'),
         DeclareLaunchArgument('left_ir_qos', default_value='default'),
+        DeclareLaunchArgument('left_ir_qos_history', default_value='default'),
+        DeclareLaunchArgument('left_ir_qos_depth', default_value='-1'),
         DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('left_ir_rotation', default_value='-1'),#left_ir rotation degree : 0, 90, 180, 270
         DeclareLaunchArgument('left_ir_flip', default_value='false'),
@@ -161,6 +167,8 @@ def generate_launch_description():
         DeclareLaunchArgument('right_ir_format', default_value='ANY'),
         DeclareLaunchArgument('enable_right_ir', default_value='false'),
         DeclareLaunchArgument('right_ir_qos', default_value='default'),
+        DeclareLaunchArgument('right_ir_qos_history', default_value='default'),
+        DeclareLaunchArgument('right_ir_qos_depth', default_value='-1'),
         DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('right_ir_rotation', default_value='-1'),#right_ir rotation degree : 0, 90, 180, 270
         DeclareLaunchArgument('right_ir_flip', default_value='false'),

orbbec_camera/launch/gemini_330_series_sdk_json.launch.py

@@ -83,15 +83,31 @@ def generate_launch_description():
         DeclareLaunchArgument('export_config_json_file_path', default_value=''),
 
         DeclareLaunchArgument('color_qos', default_value='default'),
+
+        DeclareLaunchArgument('color_qos_history', default_value='default'),
+
+        DeclareLaunchArgument('color_qos_depth', default_value='-1'),
         DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
 
         DeclareLaunchArgument('depth_qos', default_value='default'),
+
+        DeclareLaunchArgument('depth_qos_history', default_value='default'),
+
+        DeclareLaunchArgument('depth_qos_depth', default_value='-1'),
         DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
 
         DeclareLaunchArgument('left_ir_qos', default_value='default'),
+
+        DeclareLaunchArgument('left_ir_qos_history', default_value='default'),
+
+        DeclareLaunchArgument('left_ir_qos_depth', default_value='-1'),
         DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'),
 
         DeclareLaunchArgument('right_ir_qos', default_value='default'),
+
+        DeclareLaunchArgument('right_ir_qos_history', default_value='default'),
+
+        DeclareLaunchArgument('right_ir_qos_depth', default_value='-1'),
         DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'),
 
         DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'),

orbbec_camera/launch/gemini_intra_process_demo_launch.py

@@ -70,6 +70,8 @@ def generate_launch_description():
         DeclareLaunchArgument('color_format', default_value='ANY'),
         DeclareLaunchArgument('enable_color', default_value='true'),
         DeclareLaunchArgument('color_qos', default_value='default'),
+        DeclareLaunchArgument('color_qos_history', default_value='default'),
+        DeclareLaunchArgument('color_qos_depth', default_value='-1'),
         DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
         DeclareLaunchArgument('color_exposure', default_value='-1'),
@@ -82,6 +84,8 @@ def generate_launch_description():
         DeclareLaunchArgument('depth_format', default_value='ANY'),
         DeclareLaunchArgument('enable_depth', default_value='true'),
         DeclareLaunchArgument('depth_qos', default_value='default'),
+        DeclareLaunchArgument('depth_qos_history', default_value='default'),
+        DeclareLaunchArgument('depth_qos_depth', default_value='-1'),
         DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('left_ir_width', default_value='0'),
         DeclareLaunchArgument('left_ir_height', default_value='0'),
@@ -89,6 +93,8 @@ def generate_launch_description():
         DeclareLaunchArgument('left_ir_format', default_value='ANY'),
         DeclareLaunchArgument('enable_left_ir', default_value='false'),
         DeclareLaunchArgument('left_ir_qos', default_value='default'),
+        DeclareLaunchArgument('left_ir_qos_history', default_value='default'),
+        DeclareLaunchArgument('left_ir_qos_depth', default_value='-1'),
         DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('right_ir_width', default_value='0'),
         DeclareLaunchArgument('right_ir_height', default_value='0'),
@@ -96,6 +102,8 @@ def generate_launch_description():
         DeclareLaunchArgument('right_ir_format', default_value='ANY'),
         DeclareLaunchArgument('enable_right_ir', default_value='false'),
         DeclareLaunchArgument('right_ir_qos', default_value='default'),
+        DeclareLaunchArgument('right_ir_qos_history', default_value='default'),
+        DeclareLaunchArgument('right_ir_qos_depth', default_value='-1'),
         DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'),
         DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
         DeclareLaunchArgument('ir_exposure', default_value='-1'),

orbbec_camera/src/ob_camera_node.cpp

@@ -16,6 +16,7 @@
 
 #include "orbbec_camera/ob_camera_node.h"
 #include <rclcpp/rclcpp.hpp>
+#include <rmw/qos_string_conversions.h>
 #include <thread>
 #include <geometry_msgs/msg/transform_stamped.hpp>
 #include <sstream>
@@ -4415,6 +4416,20 @@ void OBCameraNode::getParameters() {
     updateImageConfig(stream_index);
     param_name = stream_name_[stream_index] + "_qos";
     setAndGetNodeParameter<std::string>(image_qos_[stream_index], param_name, "default");
+    param_name = stream_name_[stream_index] + "_qos_history";
+    setAndGetNodeParameter<std::string>(image_qos_history_[stream_index], param_name, "default");
+    std::transform(image_qos_history_[stream_index].begin(), image_qos_history_[stream_index].end(),
+                   image_qos_history_[stream_index].begin(), ::toupper);
+    if (image_qos_history_[stream_index] != "DEFAULT" &&
+        image_qos_history_[stream_index] != "KEEP_LAST" &&
+        image_qos_history_[stream_index] != "KEEP_ALL") {
+      throw std::invalid_argument(param_name + " must be DEFAULT, KEEP_LAST, or KEEP_ALL");
+    }
+    param_name = stream_name_[stream_index] + "_qos_depth";
+    setAndGetNodeParameter<int>(image_qos_depth_[stream_index], param_name, -1);
+    if (image_qos_depth_[stream_index] == 0 || image_qos_depth_[stream_index] < -1) {
+      throw std::invalid_argument(param_name + " must be -1 or greater than zero");
+    }
     param_name = stream_name_[stream_index] + "_camera_info_qos";
     setAndGetNodeParameter<std::string>(camera_info_qos_[stream_index], param_name, "default");
     param_name = "enable_" + stream_name_[stream_index] + "_undistortion";
@@ -5267,10 +5282,7 @@ void OBCameraNode::setupConfidencePublishers() {
   if (confidence_image_publisher_) {
     return;
   }
-  auto image_qos_profile = getRMWQosProfileFromString(image_qos_[DEPTH]);
+  const auto image_qos_profile = getImageQosProfile(DEPTH);
-  if (use_intra_process_) {
-    image_qos_profile = rmw_qos_profile_default;
-  }
   confidence_image_publisher_ = node_->create_publisher<sensor_msgs::msg::Image>(
       "confidence/image_raw",
       rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(image_qos_profile), image_qos_profile));
@@ -5359,11 +5371,7 @@ void OBCameraNode::setupImagePublisher(const stream_index_pair &stream_index) {
   }
 
   const std::string topic = stream_name_[stream_index] + "/image_raw";
-  auto image_qos_profile = getRMWQosProfileFromString(image_qos_[stream_index]);
+  const auto image_qos_profile = getImageQosProfile(stream_index);
-  if (use_intra_process_) {
-    image_qos_profile = rmw_qos_profile_default;
-  }
-
   const bool is_mjpg_color_stream =
       (stream_index == COLOR || stream_index == COLOR_LEFT || stream_index == COLOR_RIGHT) &&
       format_[stream_index] == OB_FORMAT_MJPG;
@@ -5374,6 +5382,14 @@ void OBCameraNode::setupImagePublisher(const stream_index_pair &stream_index) {
     image_publishers_[stream_index] =
         std::make_shared<image_transport_publisher>(*node_, topic, image_qos_profile);
   }
+  std::string history = rmw_qos_history_policy_to_str(image_qos_profile.history);
+  if (image_qos_profile.history == RMW_QOS_POLICY_HISTORY_KEEP_LAST) {
+    history += "(" + std::to_string(image_qos_profile.depth) + ")";
+  }
+  RCLCPP_INFO_STREAM(
+      logger_, topic << " QoS: " << rmw_qos_reliability_policy_to_str(image_qos_profile.reliability)
+                     << ", " << rmw_qos_durability_policy_to_str(image_qos_profile.durability)
+                     << ", " << history);
 
   if (is_mjpg_color_stream) {
     compressed_image_publishers_[stream_index] =
@@ -5385,6 +5401,24 @@ void OBCameraNode::setupImagePublisher(const stream_index_pair &stream_index) {
   }
 }
 
+rmw_qos_profile_t OBCameraNode::getImageQosProfile(const stream_index_pair &stream_index) const {
+  auto image_qos_profile = getRMWQosProfileFromString(image_qos_.at(stream_index));
+  if (use_intra_process_) {
+    image_qos_profile = rmw_qos_profile_default;
+  }
+  const auto &history = image_qos_history_.at(stream_index);
+  if (history == "KEEP_LAST") {
+    image_qos_profile.history = RMW_QOS_POLICY_HISTORY_KEEP_LAST;
+  } else if (history == "KEEP_ALL") {
+    image_qos_profile.history = RMW_QOS_POLICY_HISTORY_KEEP_ALL;
+  }
+  const auto depth = image_qos_depth_.at(stream_index);
+  if (depth > 0) {
+    image_qos_profile.depth = static_cast<size_t>(depth);
+  }
+  return image_qos_profile;
+}
+
 void OBCameraNode::setupPublishers() {
   using PointCloud2 = sensor_msgs::msg::PointCloud2;
   using CameraInfo = sensor_msgs::msg::CameraInfo;
@@ -5529,10 +5563,7 @@ void OBCameraNode::syncSoftwareAlignment() {
       RCLCPP_INFO_STREAM(logger_, "set align mode to " << align_mode_);
     }
     if (!depth_unaligned_publisher_) {
-      auto depth_image_qos_profile = getRMWQosProfileFromString(image_qos_[DEPTH]);
+      const auto depth_image_qos_profile = getImageQosProfile(DEPTH);
-      if (use_intra_process_) {
-        depth_image_qos_profile = rmw_qos_profile_default;
-      }
       if (use_intra_process_) {
         depth_unaligned_publisher_ = std::make_shared<image_rcl_publisher>(
             *node_, "depth/image_unaligned", depth_image_qos_profile);