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

Image publishers use SensorDataQoSProfile #1031

Merged
merged 1 commit into from
Jan 15, 2020
Merged

Image publishers use SensorDataQoSProfile #1031

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
7 changes: 4 additions & 3 deletions gazebo_plugins/src/gazebo_ros_camera.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -174,7 +174,7 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
// Image publisher
// TODO(louise) Migrate image_connect logic once SubscriberStatusCallback is ported to ROS2
impl_->image_pub_.push_back(image_transport::create_publisher(impl_->ros_node_.get(),
impl_->camera_name_ + "/image_raw"));
impl_->camera_name_ + "/image_raw", rclcpp::SensorDataQoS().get_rmw_qos_profile()));

// TODO(louise) Uncomment this once image_transport::Publisher has a function to return the
// full topic.
Expand All @@ -195,7 +195,8 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
for (uint64_t i = 0; i < impl_->num_cameras_; ++i) {
// Image publisher
impl_->image_pub_.push_back(image_transport::create_publisher(impl_->ros_node_.get(),
impl_->camera_name_ + "/" + MultiCameraPlugin::camera_[i]->Name() + "/image_raw"));
impl_->camera_name_ + "/" + MultiCameraPlugin::camera_[i]->Name() + "/image_raw",
rclcpp::SensorDataQoS().get_rmw_qos_profile()));

// RCLCPP_INFO(impl_->ros_node_->get_logger(), "Publishing %s camera images to [%s]",
// MultiCameraPlugin::camera_[i]->Name().c_str(),
Expand All @@ -216,7 +217,7 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
if (impl_->sensor_type_ == GazeboRosCameraPrivate::DEPTH) {
// Depth image publisher
impl_->depth_image_pub_ = image_transport::create_publisher(impl_->ros_node_.get(),
impl_->camera_name_ + "/depth/image_raw");
impl_->camera_name_ + "/depth/image_raw", rclcpp::SensorDataQoS().get_rmw_qos_profile());

// RCLCPP_INFO(impl_->ros_node_->get_logger(), "Publishing depth images to [%s]",
// impl_->depth_image_pub_.getTopic().c_str());
Expand Down