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Fixed #1201

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matlabbe
2024-08-24 14:04:39 -07:00
parent 3aacddb3d6
commit 10ddeee4d0
3 changed files with 3 additions and 3 deletions
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rtabmap_util/src/nodelets/rgbd_split.cpp
+1 -1
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@@ -46,7 +46,7 @@ RGBDSplit::RGBDSplit(const rclcpp::NodeOptions & options) :
rgbdImageSub_ = create_subscription<rtabmap_msgs::msg::RGBDImage>("rgbd_image", rclcpp::QoS(5).reliability((rmw_qos_reliability_policy_t)qos), std::bind(&RGBDSplit::callback, this, std::placeholders::_1));
auto node = rclcpp::Node::make_shared(this->get_name());
auto node = std::shared_ptr<RGBDSplit>(this, [](auto *) {});
image_transport::ImageTransport it(node);
rgbPub_ = image_transport::create_camera_publisher(node.get(), std::string(rgbdImageSub_->get_topic_name()) + "/rgb", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
depthPub_ = image_transport::create_camera_publisher(node.get(), std::string(rgbdImageSub_->get_topic_name()) + "/depth", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());