Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

add support for lazy subscribers #272

Merged
merged 1 commit into from
Jul 13, 2023
Merged

add support for lazy subscribers #272

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
5 changes: 2 additions & 3 deletions image_transport/include/image_transport/camera_publisher.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -71,9 +71,8 @@ class CameraPublisher
CameraPublisher(
rclcpp::Node * node,
const std::string & base_topic,
rmw_qos_profile_t custom_qos = rmw_qos_profile_default);

// TODO(ros2) Restore support for SubscriberStatusCallbacks when available.
rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
rclcpp::PublisherOptions = rclcpp::PublisherOptions());

/*!
* \brief Returns the number of subscribers that are currently connected to
Expand Down
3 changes: 2 additions & 1 deletion image_transport/include/image_transport/image_transport.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -75,7 +75,8 @@ IMAGE_TRANSPORT_PUBLIC
CameraPublisher create_camera_publisher(
rclcpp::Node * node,
const std::string & base_topic,
rmw_qos_profile_t custom_qos = rmw_qos_profile_default);
rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
rclcpp::PublisherOptions pub_options = rclcpp::PublisherOptions());

/*!
* \brief Subscribe to a camera, free function version.
Expand Down
6 changes: 3 additions & 3 deletions image_transport/src/camera_publisher.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -74,11 +74,11 @@ struct CameraPublisher::Impl
bool unadvertised_;
};

// TODO(ros2) Add support for SubscriberStatusCallbacks when rcl/rmw support it.
CameraPublisher::CameraPublisher(
rclcpp::Node * node,
const std::string & base_topic,
rmw_qos_profile_t custom_qos)
rmw_qos_profile_t custom_qos,
rclcpp::PublisherOptions pub_options)
: impl_(std::make_shared<Impl>(node))
{
// Explicitly resolve name here so we compute the correct CameraInfo topic when the
Expand All @@ -89,7 +89,7 @@ CameraPublisher::CameraPublisher(
std::string info_topic = getCameraInfoTopic(image_topic);

auto qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(custom_qos), custom_qos);
impl_->image_pub_ = image_transport::create_publisher(node, image_topic, custom_qos);
impl_->image_pub_ = image_transport::create_publisher(node, image_topic, custom_qos, pub_options);
impl_->info_pub_ = node->create_publisher<sensor_msgs::msg::CameraInfo>(info_topic, qos);
}

Expand Down
5 changes: 3 additions & 2 deletions image_transport/src/image_transport.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -79,9 +79,10 @@ Subscriber create_subscription(
CameraPublisher create_camera_publisher(
rclcpp::Node * node,
const std::string & base_topic,
rmw_qos_profile_t custom_qos)
rmw_qos_profile_t custom_qos,
rclcpp::PublisherOptions pub_options)
{
return CameraPublisher(node, base_topic, custom_qos);
return CameraPublisher(node, base_topic, custom_qos, pub_options);
}

CameraSubscriber create_camera_subscription(
Expand Down