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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_sync/src/nodelets/rgbd_sync.cpp
+24 -6
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@@ -76,6 +76,22 @@ RGBDSync::RGBDSync(const rclcpp::NodeOptions & options) :
depthScale_ = this->declare_parameter("depth_scale", depthScale_);
decimation_ = this->declare_parameter("decimation", decimation_);
compressedRate_ = this->declare_parameter("compressed_rate", compressedRate_);
std::string rgbImageTransport = this->declare_parameter<std::string>("rgb_image_transport", std::string("raw"));
std::string depthImageTransport = this->declare_parameter<std::string>("depth_image_transport", std::string("raw"));
if(rgbImageTransport != "raw") {
RCLCPP_WARN(this->get_logger(), "Parameter \"rgb_image_transport\" has been renamed "
"to \"image_transport\" and will be removed "
"in future versions! The value (%s) is copied to "
"\"image_transport\".", rgbImageTransport.c_str());
}
if(depthImageTransport != "raw") {
RCLCPP_WARN(this->get_logger(), "Parameter \"depth_image_transport\" has been renamed "
"to \"depth_transport\" and will be removed "
"in future versions! The value (%s) is copied to "
"\"depth_transport\".", depthImageTransport.c_str());
}
std::string imageTransport = this->declare_parameter("image_transport", rgbImageTransport);
std::string depthTransport = this->declare_parameter("depth_transport", depthImageTransport);
if(decimation_<1)
{
@@ -92,6 +108,8 @@ RGBDSync::RGBDSync(const rclcpp::NodeOptions & options) :
RCLCPP_INFO(this->get_logger(), "%s: depth_scale = %f", get_name(), depthScale_);
RCLCPP_INFO(this->get_logger(), "%s: decimation = %d", get_name(), decimation_);
RCLCPP_INFO(this->get_logger(), "%s: compressed_rate = %f", get_name(), compressedRate_);
RCLCPP_INFO(this->get_logger(), "%s: image_transport = %s", get_name(), imageTransport.c_str());
RCLCPP_INFO(this->get_logger(), "%s: depth_transport = %s", get_name(), depthTransport.c_str());
rgbdImagePub_ = this->create_publisher<rtabmap_msgs::msg::RGBDImage>("rgbd_image", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
rgbdImageCompressedPub_ = this->create_publisher<rtabmap_msgs::msg::RGBDImage>("rgbd_image/compressed", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos));
@@ -109,12 +127,12 @@ RGBDSync::RGBDSync(const rclcpp::NodeOptions & options) :
exactSyncDepth_->registerCallback(std::bind(&RGBDSync::callback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
}
std::string rgbImageTransport = this->declare_parameter<std::string>("rgb_image_transport", "raw");
std::string depthImageTransport = this->declare_parameter<std::string>("depth_image_transport", "raw");
std::string rgbTopic = this->get_node_topics_interface()->resolve_topic_name("rgb/image"); // Humble doesn'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 doesn't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
imageSub_.subscribe(this, rgbTopic, rgbImageTransport, rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
imageDepthSub_.subscribe(this, depthTopic, depthImageTransport, rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
image_transport::TransportHints rgbHints(this); // using "image_transport" parameter
image_transport::TransportHints depthHints(this, "raw", "depth_transport");
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 doesn't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a
imageSub_.subscribe(this, rgbTopic, rgbHints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
imageDepthSub_.subscribe(this, depthTopic, depthHints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile());
cameraInfoSub_.subscribe(this, "rgb/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo));
std::string subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s,\n %s",