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Resolving image_transport hints support (#1181) (#1348)

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* Resolving image_transport hints support (#1181)

* updated dev container to be able to install packages, updated comment
This commit is contained in:
matlabbe
2025-08-09 15:05:08 -07:00
committed by GitHub
parent e37f95d1f9
commit d23e3eef01
16 changed files with 111 additions and 49 deletions
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rtabmap_odom/src/nodelets/rgbd_odometry.cpp
+15 -13
View File
@@ -113,8 +113,16 @@ void RGBDOdometry::onOdomInit()
rgbdCameras = 0;
}
keepColor_ = this->declare_parameter("keep_color", keepColor_);
std::string rgbdTransport = this->declare_parameter("rgb_transport", std::string("raw"));
std::string rgbTransport = this->declare_parameter("rgb_transport", std::string("raw"));
if(rgbTransport != "raw") {
RCLCPP_WARN(this->get_logger(), "Parameter \"rgb_transport\" has been renamed "
"to \"image_transport\" and will be removed "
"in future versions! The value (%s) is copied to "
"\"image_transport\".", rgbTransport.c_str());
}
std::string imageTransport = this->declare_parameter("image_transport", rgbTransport);
std::string depthTransport = this->declare_parameter("depth_transport", std::string("raw"));
RCLCPP_INFO(this->get_logger(), "RGBDOdometry: approx_sync = %s", approxSync?"true":"false");
if(approxSync)
@@ -126,7 +134,7 @@ void RGBDOdometry::onOdomInit()
RCLCPP_INFO(this->get_logger(), "RGBDOdometry: subscribe_rgbd = %s", subscribeRGBD?"true":"false");
RCLCPP_INFO(this->get_logger(), "RGBDOdometry: rgbd_cameras = %d", rgbdCameras);
RCLCPP_INFO(this->get_logger(), "RGBDOdometry: keep_color = %s", keepColor_?"true":"false");
RCLCPP_INFO(this->get_logger(), "RGBDOdometry: rgb_transport = %s", rgbdTransport.c_str());
RCLCPP_INFO(this->get_logger(), "RGBDOdometry: image_transport = %s", imageTransport.c_str());
RCLCPP_INFO(this->get_logger(), "RGBDOdometry: depth_transport = %s", depthTransport.c_str());
rclcpp::SubscriptionOptions options;
@@ -354,18 +362,12 @@ void RGBDOdometry::onOdomInit()
}
else
{
image_transport::TransportHints rgb_hints(this, "raw", "rgb_transport");
image_transport::TransportHints rgb_hints(this); // using "image_transport" parameter
image_transport::TransportHints depth_hints(this, "raw", "depth_transport");
std::string rgb_topic = get_node_base_interface()->resolve_topic_or_service_name(
"rgb/image", false, false
);
std::string depth_topic = get_node_base_interface()->resolve_topic_or_service_name(
"depth/image", false, false
);
image_mono_sub_.subscribe(this, rgb_topic, rgb_hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
image_depth_sub_.subscribe(this, depth_topic, depth_hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
std::string rgbTopic = this->get_node_topics_interface()->resolve_topic_name("rgb/image"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
std::string depthTopic = this->get_node_topics_interface()->resolve_topic_name("depth/image"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
image_mono_sub_.subscribe(this, rgbTopic, rgb_hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
image_depth_sub_.subscribe(this, depthTopic, depth_hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
info_sub_.subscribe(this, "rgb/camera_info", RCLCPP_QOS(topicQueueSize_, qosCamInfo), options);
if(approxSync)
rtabmap_odom/src/nodelets/stereo_odometry.cpp
+10 -5
View File
@@ -109,6 +109,7 @@ void StereoOdometry::onOdomInit()
subscribeRGBD = this->declare_parameter("subscribe_rgbd", subscribeRGBD);
rgbdCameras = this->declare_parameter("rgbd_cameras", rgbdCameras);
keepColor_ = this->declare_parameter("keep_color", keepColor_);
std::string imageTransport = this->declare_parameter("image_transport", std::string("raw"));
RCLCPP_INFO(this->get_logger(), "StereoOdometry: approx_sync = %s", approxSync?"true":"false");
if(approxSync)
@@ -119,6 +120,7 @@ void StereoOdometry::onOdomInit()
RCLCPP_INFO(this->get_logger(), "StereoOdometry: qos_camera_info = %d", qosCamInfo);
RCLCPP_INFO(this->get_logger(), "StereoOdometry: subscribe_rgbd = %s", subscribeRGBD?"true":"false");
RCLCPP_INFO(this->get_logger(), "StereoOdometry: keep_color = %s", keepColor_?"true":"false");
RCLCPP_INFO(this->get_logger(), "StereoOdometry: image_transport = %s", imageTransport.c_str());
rclcpp::SubscriptionOptions options;
options.callback_group = dataCallbackGroup_;
@@ -347,9 +349,12 @@ void StereoOdometry::onOdomInit()
}
else
{
image_transport::TransportHints hints(this);
imageRectLeft_.subscribe(this, "left/image_rect", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
imageRectRight_.subscribe(this, "right/image_rect", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
image_transport::TransportHints hints(this); // using "image_transport" parameter
std::string leftTopic = this->get_node_topics_interface()->resolve_topic_name("left/image_rect"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
std::string rightTopic = this->get_node_topics_interface()->resolve_topic_name("right/image_rect"); // Humble/Jazzy don't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
imageRectLeft_.subscribe(this, leftTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
imageRectRight_.subscribe(this, rightTopic, hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options);
cameraInfoLeft_.subscribe(this, "left/camera_info", RCLCPP_QOS(topicQueueSize_, qosCamInfo), options);
cameraInfoRight_.subscribe(this, "right/camera_info", RCLCPP_QOS(topicQueueSize_, qosCamInfo), options);
@@ -373,8 +378,8 @@ void StereoOdometry::onOdomInit()
approxSync&&approxSyncMaxInterval!=0.0?uFormat(", max interval=%fs", approxSyncMaxInterval).c_str():"",
topicQueueSize_,
syncQueueSize_,
imageRectLeft_.getTopic().c_str(),
imageRectRight_.getTopic().c_str(),
imageRectLeft_.getSubscriber().getTopic().c_str(),
imageRectRight_.getSubscriber().getTopic().c_str(),
cameraInfoLeft_.getSubscriber()->get_topic_name(),
cameraInfoRight_.getSubscriber()->get_topic_name());
}