ported zstd_image_transport to image_transport::node_interfaces

authaldo · Feb 11, 2024 · 3a54139 · 3a54139
1 parent d3041be
commit 3a54139
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Showing 4 changed files with 18 additions and 18 deletions.
diff --git a/zstd_image_transport/include/zstd_image_transport/zstd_publisher.hpp b/zstd_image_transport/include/zstd_image_transport/zstd_publisher.hpp
@@ -39,10 +39,9 @@
 
 #include <sensor_msgs/msg/image.hpp>
 #include <sensor_msgs/msg/compressed_image.hpp>
+#include <image_transport/node_interfaces.hpp>
 #include <image_transport/simple_publisher_plugin.hpp>
 
-#include <rclcpp/node.hpp>
-
 #include "zstd_image_transport/zstd_common.hpp"
 
 namespace zstd_image_transport
@@ -62,7 +61,7 @@ class ZstdPublisher : public image_transport::SimplePublisherPlugin<CompressedIm
 protected:
   // Overridden to set up reconfigure server
   void advertiseImpl(
-    rclcpp::Node * node,
+    image_transport::NodeInterfaces::SharedPtr node_interfaces,
     const std::string & base_topic,
     rmw_qos_profile_t custom_qos,
     rclcpp::PublisherOptions options) override;
@@ -72,7 +71,7 @@ class ZstdPublisher : public image_transport::SimplePublisherPlugin<CompressedIm
     const PublishFn & publish_fn) const override;
 
   rclcpp::Logger logger_;
-  rclcpp::Node * node_;
+  image_transport::NodeInterfaces::SharedPtr node_interfaces_;
 
 private:
   std::vector<std::string> parameters_;

diff --git a/zstd_image_transport/include/zstd_image_transport/zstd_subscriber.hpp b/zstd_image_transport/include/zstd_image_transport/zstd_subscriber.hpp
@@ -37,11 +37,11 @@
 #include <string>
 #include <vector>
 
-#include <rclcpp/node.hpp>
 #include <rclcpp/subscription_options.hpp>
 
 #include <sensor_msgs/msg/image.hpp>
 #include <sensor_msgs/msg/compressed_image.hpp>
+#include <image_transport/node_interfaces.hpp>
 #include <image_transport/simple_subscriber_plugin.hpp>
 
 #include "zstd_image_transport/zstd_common.hpp"
@@ -62,7 +62,7 @@ class ZstdSubscriber final
 
 protected:
   void subscribeImpl(
-    rclcpp::Node *,
+    image_transport::NodeInterfaces::SharedPtr node_interfaces,
     const std::string & base_topic,
     const Callback & callback,
     rmw_qos_profile_t custom_qos,
@@ -73,7 +73,7 @@ class ZstdSubscriber final
     const Callback & user_cb) override;
 
   rclcpp::Logger logger_;
-  rclcpp::Node * node_;
+  image_transport::NodeInterfaces::SharedPtr node_interfaces_;
 };
 
 }  // namespace zstd_image_transport

diff --git a/zstd_image_transport/src/zstd_publisher.cpp b/zstd_image_transport/src/zstd_publisher.cpp
@@ -73,17 +73,18 @@ std::string ZstdPublisher::getTransportName() const
 }
 
 void ZstdPublisher::advertiseImpl(
-  rclcpp::Node * node,
+  image_transport::NodeInterfaces::SharedPtr node_interfaces,
   const std::string & base_topic,
   rmw_qos_profile_t custom_qos,
   rclcpp::PublisherOptions options)
 {
-  node_ = node;
+  node_interfaces_ = node_interfaces;
   typedef image_transport::SimplePublisherPlugin<sensor_msgs::msg::CompressedImage> Base;
-  Base::advertiseImpl(node, base_topic, custom_qos, options);
+  Base::advertiseImpl(node_interfaces_, base_topic, custom_qos, options);
 
   // Declare Parameters
-  uint ns_len = node->get_effective_namespace().length();
+  // TODO: original implementation uses get_effective_namespace of rclcpp::Node
+  uint ns_len = strlen(node_interfaces_->base->get_namespace());
   std::string param_base_name = base_topic.substr(ns_len);
   std::replace(param_base_name.begin(), param_base_name.end(), '/', '.');
 
@@ -97,7 +98,7 @@ void ZstdPublisher::publish(
   const PublishFn & publish_fn) const
 {
   // Fresh Configuration
-  int cfg_zstd_level = node_->get_parameter(parameters_[ZSTD_LEVEL]).get_value<int64_t>();
+  int cfg_zstd_level = node_interfaces_->parameters->get_parameter(parameters_[ZSTD_LEVEL]).get_value<int64_t>();
 
   zlib::Comp comp(static_cast<zlib::Comp::Level>(cfg_zstd_level), true);
   auto g_compressed_data =
@@ -163,12 +164,12 @@ void ZstdPublisher::declareParameter(
   rclcpp::ParameterValue param_value;
 
   try {
-    param_value = node_->declare_parameter(
+    param_value = node_interfaces_->parameters->declare_parameter(
       param_name, definition.defaultValue,
       definition.descriptor);
   } catch (const rclcpp::exceptions::ParameterAlreadyDeclaredException &) {
     RCLCPP_DEBUG(logger_, "%s was previously declared", definition.descriptor.name.c_str());
-    param_value = node_->get_parameter(param_name).get_parameter_value();
+    param_value = node_interfaces_->parameters->get_parameter(param_name).get_parameter_value();
   }
 }
 }  // namespace zstd_image_transport
diff --git a/zstd_image_transport/src/zstd_subscriber.cpp b/zstd_image_transport/src/zstd_subscriber.cpp
@@ -58,16 +58,16 @@ std::string ZstdSubscriber::getTransportName() const
 }
 
 void ZstdSubscriber::subscribeImpl(
-  rclcpp::Node * node,
+  image_transport::NodeInterfaces::SharedPtr node_interfaces,
   const std::string & base_topic,
   const Callback & callback,
   rmw_qos_profile_t custom_qos,
   rclcpp::SubscriptionOptions options)
 {
-  node_ = node;
-  logger_ = node->get_logger();
+  node_interfaces_ = node_interfaces;
+  logger_ = node_interfaces_->logging->get_logger();
   typedef image_transport::SimpleSubscriberPlugin<sensor_msgs::msg::CompressedImage> Base;
-  Base::subscribeImpl(node, base_topic, callback, custom_qos, options);
+  Base::subscribeImpl(node_interfaces_, base_topic, callback, custom_qos, options);
 }
 
 void ZstdSubscriber::internalCallback(