Fixing camera_info_manager topic so that it conforms to the standard namespace #16
Conversation
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While many older drivers still use the "camera" namespace, the camera prefix is not recommended practice any longer. See: REP-0135. That REP clearly deprecates adding an "extra" level of namespace to the topic names. Services are not explicitly mentioned. I would still interpret them as working similarly. In my opinion, this change breaks the API and should not be done in Hydro. Even changing it in Indigo should be done as a "tick-tock" update, with the old behavior supported but deprecated for an entire release cycle. That is why camera1394 still does not comply with REP-0135. It's just too much hassle and too disruptive to make that kind of change. |
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Hm. So should the fix actually be to remove the camera sub-namespace from the other topics? |
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I don't know, haven't used this driver. Removing the extra namespace would at least follow recommended practice, but it's tricky to do that correctly. Either way, the compatibility issue seriously needs to be addressed. We don't want to put out a Hydro update that makes people's systems suddenly start failing. |
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It's an easy fix to remove the namespace, we just have to create two image transport publishers, and emit a warning when someone subscribed to the deprecated one. |
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Good idea. That's probably a reasonable solution for deprecation in Indigo, with removal in J-turtle. I would not recommend changing Hydro. I assume this driver is fairly widely used. |
That sounds good. I'll update the PR accordingly.
Yeah, even on OS X now! #15 |
This adds a new image_transport topic set without the additional `/camera/` namespace. If one subscribes to the topics with `/camera/` in them, it will issue a warning over rosconsole.
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Ok, @jack-oquin take a look at that. If it looks good, I'll branch |
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It's not for me to say. You are one of the maintainers. It looks OK to me. Since you asked: 😄
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Could we merge this PR please? I have multiple cameras and end up having to remap all the topics to remove the extra |
This bug made it into the releases, but should really be fixed.
According to the ROS camera spec, the camera info topic should be on
camera/set_camera_info, but instead with gscam, it's justset_camera_info. This patch fixes that, but it might break code (mostly calibration scripts) for people who have been using gscam already.