Fixed tf2_eigen missing from package.xml. Added "qos" parameter for all nodes subscribing to sensor data (#651).

include/rtabmap_ros/CommonDataSubscriber.h

@@ -248,6 +248,11 @@ private:
 protected:
 	std::string subscribedTopicsMsg_;
 	int queueSize_;
+	rmw_qos_reliability_policy_t qosOdom_;
+	rmw_qos_reliability_policy_t qosImage_;
+	rmw_qos_reliability_policy_t qosCameraInfo_;
+	rmw_qos_reliability_policy_t qosScan_;
+	rmw_qos_reliability_policy_t qosUserData_;
 
 private:
 	bool approxSync_;

include/rtabmap_ros/OdometryROS.h

@@ -82,6 +82,7 @@ protected:
 	void init(bool stereoParams, bool visParams, bool icpParams);
 	void startWarningThread(const std::string & subscribedTopicsMsg, bool approxSync);
 	void callbackCalled() {callbackCalled_ = true;}
+	rmw_qos_reliability_policy_t qos() const {return qos_;}
 
 	virtual void flushCallbacks() {};
 	tf2_ros::Buffer & tfBuffer() {return *tfBuffer_;}
@@ -115,6 +116,7 @@ private:
 	bool publishTf_;
 	double waitForTransform_;
 	bool publishNullWhenLost_;
+	rmw_qos_reliability_policy_t qos_;
 	rtabmap::ParametersMap parameters_;
 
 	rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr odomPub_;

include/rtabmap_ros/pointcloud_to_depthimage.hpp

@@ -57,8 +57,8 @@ private:
 			const sensor_msgs::msg::CameraInfo::ConstSharedPtr cameraInfoMsg);
 
 private:
-	image_transport::Publisher depthImage16Pub_;
-	image_transport::Publisher depthImage32Pub_;
+	image_transport::CameraPublisher depthImage16Pub_;
+	image_transport::CameraPublisher depthImage32Pub_;
 	rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr pointCloudTransformedPub_;
 	message_filters::Subscriber<sensor_msgs::msg::PointCloud2> pointCloudSub_;
 	message_filters::Subscriber<sensor_msgs::msg::CameraInfo> cameraInfoSub_;