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Accept rmw_qos_profile_t for topic camera QoS initialization #377

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Accept rmw_qos_profile_t for topic camera QoS initialization #377

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49 changes: 46 additions & 3 deletions src/usb_cam_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -46,7 +46,18 @@ UsbCamNode::UsbCamNode(const rclcpp::NodeOptions & node_options)
m_compressed_img_msg(nullptr),
m_image_publisher(std::make_shared<image_transport::CameraPublisher>(
image_transport::create_camera_publisher(this, BASE_TOPIC_NAME,
rclcpp::QoS {100}.get_rmw_qos_profile()))),
rmw_qos_profile_t{
RMW_QOS_POLICY_HISTORY_KEEP_LAST,
5,
RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT,
RMW_QOS_POLICY_DURABILITY_VOLATILE,
{0,0}, // deadline sec, nanosec
{0,0}, // lifespan sec, nanosec
RMW_QOS_POLICY_LIVELINESS_AUTOMATIC,
{0,0}, // lease duration
false // avoid_ros_namespace_conventions
}
))),
m_compressed_image_publisher(nullptr),
m_compressed_cam_info_publisher(nullptr),
m_parameters(),
Expand Down Expand Up @@ -183,10 +194,42 @@ void UsbCamNode::init()
m_compressed_img_msg->header.frame_id = m_parameters.frame_id;
m_compressed_image_publisher =
this->create_publisher<sensor_msgs::msg::CompressedImage>(
std::string(BASE_TOPIC_NAME) + "/compressed", rclcpp::QoS(100));
std::string(BASE_TOPIC_NAME) + "/compressed",
rclcpp::QoS(
rclcpp::QoSInitialization::from_rmw(
rmw_qos_profile_t{
RMW_QOS_POLICY_HISTORY_KEEP_LAST,
5,
RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT,
RMW_QOS_POLICY_DURABILITY_VOLATILE,
{0,0}, // deadline sec, nanosec
{0,0}, // lifespan sec, nanosec
RMW_QOS_POLICY_LIVELINESS_AUTOMATIC,
{0,0}, // lease duration
false // avoid_ros_namespace_conventions
}
)
)
);
m_compressed_cam_info_publisher =
this->create_publisher<sensor_msgs::msg::CameraInfo>(
"camera_info", rclcpp::QoS(100));
"camera_info",
rclcpp::QoS(
rclcpp::QoSInitialization::from_rmw(
rmw_qos_profile_t{
RMW_QOS_POLICY_HISTORY_KEEP_LAST,
5,
RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT,
RMW_QOS_POLICY_DURABILITY_VOLATILE,
{0,0}, // deadline sec, nanosec
{0,0}, // lifespan sec, nanosec
RMW_QOS_POLICY_LIVELINESS_AUTOMATIC,
{0,0}, // lease duration
false // avoid_ros_namespace_conventions
}
)
)
);
}

m_image_msg->header.frame_id = m_parameters.frame_id;
Expand Down