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Support QoS override parameters in depth_image_proc/register #1043

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merged 2 commits into from
Nov 25, 2024
Merged

Support QoS override parameters in depth_image_proc/register #1043

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3aafdd4
Support QoS override parameters in depth_image_proc/register
skalldri Nov 20, 2024
00ba6e9
Fix lint issue in register.cpp
skalldri Nov 23, 2024
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11 changes: 8 additions & 3 deletions depth_image_proc/src/register.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -133,14 +133,19 @@ RegisterNode::RegisterNode(const rclcpp::NodeOptions & options)
sub_depth_info_.unsubscribe();
sub_rgb_info_.unsubscribe();
} else if (!sub_depth_image_.getSubscriber()) {
// Allow overriding QoS settings (history, depth, reliability)
rclcpp::SubscriptionOptions sub_options;
sub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();

// For compressed topics to remap appropriately, we need to pass a
// fully expanded and remapped topic name to image_transport
auto node_base = this->get_node_base_interface();
std::string topic = node_base->resolve_topic_or_service_name("depth/image_rect", false);
image_transport::TransportHints hints(this, "raw", "depth_image_transport");
sub_depth_image_.subscribe(this, topic, hints.getTransport());
sub_depth_info_.subscribe(this, "depth/camera_info", rclcpp::QoS(10));
sub_rgb_info_.subscribe(this, "rgb/camera_info", rclcpp::QoS(10));
sub_depth_image_.subscribe(this, topic, hints.getTransport(), rmw_qos_profile_default,
sub_options);
sub_depth_info_.subscribe(this, "depth/camera_info", rclcpp::QoS(10), sub_options);
sub_rgb_info_.subscribe(this, "rgb/camera_info", rclcpp::QoS(10), sub_options);
}
};
// For compressed topics to remap appropriately, we need to pass a
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