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Using image_transports #2

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Using image_transports #2

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d16dd28
use image_transport
rafal-gorecki Jan 3, 2024
8d35034
fix qos
rafal-gorecki Jan 3, 2024
43e71ab
remove trash
rafal-gorecki Jan 3, 2024
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3 changes: 1 addition & 2 deletions astra_camera/include/astra_camera/ob_camera_node.h
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Original file line number Diff line number Diff line change
Expand Up @@ -219,8 +219,7 @@ class OBCameraNode {
std::map<stream_index_pair, openni::VideoMode> stream_video_mode_;
std::map<stream_index_pair, std::vector<openni::VideoMode>> supported_video_modes_;
std::map<stream_index_pair, int> unit_step_size_;
std::map<stream_index_pair, rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr>
image_publishers_;
std::map<stream_index_pair, image_transport::Publisher> image_publishers_;
std::map<stream_index_pair, rclcpp::Publisher<sensor_msgs::msg::CameraInfo>::SharedPtr>
camera_info_publishers_;

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2 changes: 1 addition & 1 deletion astra_camera/include/astra_camera/uvc_camera_driver.h
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Expand Up @@ -151,7 +151,7 @@ class UVCCameraDriver {
rclcpp::Service<SetBool>::SharedPtr set_uvc_mirror_srv_;
rclcpp::Service<SetBool>::SharedPtr toggle_uvc_camera_srv_;

rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr image_publisher_;
image_transport::Publisher image_publisher_;
rclcpp::Publisher<sensor_msgs::msg::CameraInfo>::SharedPtr camera_info_publisher_;
sensor_msgs::msg::CameraInfo camera_info_;
std::unique_ptr<camera_info_manager::CameraInfoManager> camera_info_manager_ = nullptr;
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6 changes: 2 additions & 4 deletions astra_camera/src/ob_camera_node.cpp
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Expand Up @@ -383,9 +383,7 @@ void OBCameraNode::setupPublishers() {
std::string topic = name + "/image_raw";
auto image_qos = image_qos_[stream_index];
auto image_qos_profile = getRMWQosProfileFromString(image_qos);
image_publishers_[stream_index] = node_->create_publisher<sensor_msgs::msg::Image>(
topic,
rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(image_qos_profile), image_qos_profile));
image_publishers_[stream_index] = image_transport::create_publisher(node_, topic, image_qos_profile);
topic = name + "/camera_info";
auto camera_info_qos = camera_info_qos_[stream_index];
auto camera_info_qos_profile = getRMWQosProfileFromString(camera_info_qos);
Expand Down Expand Up @@ -531,7 +529,7 @@ void OBCameraNode::onNewFrameCallback(const openni::VideoFrameRef& frame,
image_msg->height = stream_index == DEPTH ? height * depth_scale_ : height;
image_msg->step = image_msg->width * unit_step_size_[stream_index];
image_msg->is_bigendian = false;
image_publisher->publish(*image_msg);
image_publisher.publish(image_msg);
sensor_msgs::msg::CameraInfo camera_info;
if (stream_index == DEPTH) {
camera_info = getDepthCameraInfo();
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6 changes: 2 additions & 4 deletions astra_camera/src/uvc_camera_driver.cpp
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Expand Up @@ -87,9 +87,7 @@ UVCCameraDriver::UVCCameraDriver(rclcpp::Node* node, std::shared_ptr<Parameters>
camera_info_manager_ = std::make_unique<camera_info_manager::CameraInfoManager>(
node_, "rgb_camera", color_info_url_);
}
image_publisher_ = node_->create_publisher<sensor_msgs::msg::Image>(
"color/image_raw",
rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(color_qos_profile_), color_qos_profile_));
image_publisher_ = image_transport::create_publisher(node_, "color/image_raw", color_qos_profile_);
camera_info_publisher_ = node_->create_publisher<sensor_msgs::msg::CameraInfo>(
"color/camera_info", rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(color_info_qos_profile_),
color_info_qos_profile_));
Expand Down Expand Up @@ -395,7 +393,7 @@ void UVCCameraDriver::frameCallback(uvc_frame_t* frame) {
cv_image_ptr->image = cv_img;
image = *(cv_image_ptr->toImageMsg());
}
image_publisher_->publish(image);
image_publisher_.publish(image);
auto camera_info = getCameraInfo();
camera_info.header.stamp = image.header.stamp;
camera_info.header.frame_id = image.header.frame_id;
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