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Fixing camera_info_manager topic so that it conforms to the standard namespace #16

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Fixing camera_info_manager topic so that it conforms to the standard namespace #16

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6 changes: 6 additions & 0 deletions include/gscam/gscam.h
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Original file line number Diff line number Diff line change
Expand Up @@ -62,6 +62,12 @@ namespace gscam {
// Case of a jpeg only publisher
ros::Publisher jpeg_pub_;
ros::Publisher cinfo_pub_;

// Deprecated publishers
image_transport::ImageTransport image_transport_deprecated_;
image_transport::CameraPublisher camera_pub_deprecated_;
ros::Publisher jpeg_pub_deprecated_;
ros::Publisher cinfo_pub_deprecated_;
};

}
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42 changes: 39 additions & 3 deletions src/gscam.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -25,17 +25,40 @@ extern "C"{

#include <camera_calibration_parsers/parse_ini.h>

#include <boost/algorithm/string.hpp>

#include <gscam/gscam.h>

namespace gscam {

template<typename SSP>
void topicDeprecationWarning(const SSP& pub)
{
std::string correct_topic = pub.getTopic();
boost::replace_first(correct_topic, "camera/", "");
ROS_WARN_STREAM(
"gscam: Your node, \""<<pub.getSubscriberName()<<"\" is subscribing to the DEPRECATED topic \""<<pub.getTopic()<<"\", which will be removed in the next release."
<<" Instead, it should subscribe to the same topic without the additional \"camera\" namespace \""<<correct_topic<<"\"."
<<" See https://github.com/ros-drivers/gscam/pull/16 for more info.");
}

void rosTopicDeprecationWarning(const ros::SingleSubscriberPublisher &pub) {
topicDeprecationWarning(pub);
}

void imageTransportTopicDeprecationWarning(const image_transport::SingleSubscriberPublisher &pub) {
topicDeprecationWarning(pub);
}


GSCam::GSCam(ros::NodeHandle nh_camera, ros::NodeHandle nh_private) :
gsconfig_(""),
pipeline_(NULL),
sink_(NULL),
nh_(nh_camera),
nh_private_(nh_private),
image_transport_(nh_camera),
image_transport_deprecated_(ros::NodeHandle(nh_camera,"camera")),
camera_info_manager_(nh_camera)
{
}
Expand Down Expand Up @@ -203,10 +226,19 @@ namespace gscam {

// Create ROS camera interface
if (image_encoding_ == "jpeg") {
jpeg_pub_ = nh_.advertise<sensor_msgs::CompressedImage>("camera/image_raw/compressed",1);
cinfo_pub_ = nh_.advertise<sensor_msgs::CameraInfo>("camera/camera_info",1);
jpeg_pub_ = nh_.advertise<sensor_msgs::CompressedImage>("image_raw/compressed",1);
cinfo_pub_ = nh_.advertise<sensor_msgs::CameraInfo>("camera_info",1);

jpeg_pub_deprecated_ = nh_.advertise<sensor_msgs::CompressedImage>("camera/image_raw/compressed",1,rosTopicDeprecationWarning);
cinfo_pub_deprecated_ = nh_.advertise<sensor_msgs::CameraInfo>("camera/camera_info",1,rosTopicDeprecationWarning);
} else {
camera_pub_ = image_transport_.advertiseCamera("camera/image_raw", 1);
camera_pub_ = image_transport_.advertiseCamera("image_raw", 1);

camera_pub_deprecated_ = image_transport_deprecated_.advertiseCamera(
"image_raw", 1,
imageTransportTopicDeprecationWarning, image_transport::SubscriberStatusCallback(),
rosTopicDeprecationWarning, ros::SubscriberStatusCallback()
);
}

return true;
Expand Down Expand Up @@ -300,6 +332,9 @@ namespace gscam {
img->data.begin());
jpeg_pub_.publish(img);
cinfo_pub_.publish(cinfo);

jpeg_pub_deprecated_.publish(img);
cinfo_pub_deprecated_.publish(cinfo);
} else {
// Complain if the returned buffer is smaller than we expect
const unsigned int expected_frame_size =
Expand Down Expand Up @@ -340,6 +375,7 @@ namespace gscam {

// Publish the image/info
camera_pub_.publish(img, cinfo);
camera_pub_deprecated_.publish(img, cinfo);
}

// Release the buffer
Expand Down