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Use latched QoS for Extrinsic topic when intra-process is used #2619

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merged 2 commits into from
Feb 9, 2023
Merged

Use latched QoS for Extrinsic topic when intra-process is used #2619

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9b60cfb
restore extrinsic topic qos to latched
Nir-Az Feb 9, 2023
dd2f690
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Nir-Az Feb 9, 2023
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1 change: 0 additions & 1 deletion realsense2_camera/include/base_realsense_node.h
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Original file line number Diff line number Diff line change
Expand Up @@ -275,7 +275,6 @@ namespace realsense2_camera
std::map<stream_index_pair, rclcpp::Publisher<realsense2_camera_msgs::msg::Metadata>::SharedPtr> _metadata_publishers;
std::map<stream_index_pair, rclcpp::Publisher<IMUInfo>::SharedPtr> _imu_info_publisher;
std::map<stream_index_pair, rclcpp::Publisher<Extrinsics>::SharedPtr> _extrinsics_publishers;
std::map<stream_index_pair, Extrinsics> _extrinsics_msgs;
std::map<stream_index_pair, cv::Mat> _image;
std::map<unsigned int, std::string> _encoding;

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19 changes: 1 addition & 18 deletions realsense2_camera/src/base_realsense_node.cpp
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Expand Up @@ -121,6 +121,7 @@ BaseRealSenseNode::BaseRealSenseNode(rclcpp::Node& node,
ROS_INFO("Intra-Process communication enabled");
}

// intra-process do not support latched QoS, so we need to disable intra-process for this topic
rclcpp::PublisherOptionsWithAllocator<std::allocator<void>> options;
options.use_intra_process_comm = rclcpp::IntraProcessSetting::Disable;
#ifndef DASHING
Expand Down Expand Up @@ -864,7 +865,6 @@ void BaseRealSenseNode::publishExtrinsicsTopic(const stream_index_pair& sip, con
Extrinsics msg = rsExtrinsicsToMsg(ex);
if (_extrinsics_publishers.find(sip) != _extrinsics_publishers.end())
{
_extrinsics_msgs[sip] = msg; // We keep the message for periodically publish later if needed
_extrinsics_publishers[sip]->publish(msg);
}
}
Expand Down Expand Up @@ -1012,23 +1012,6 @@ void BaseRealSenseNode::publishDynamicTransforms()
{
ROS_ERROR_STREAM("Error publishing dynamic transforms: " << e.what());
}

// If static_tf was not created we need to publish the extrinsics periodically since it is not publishes as a latched topic.
if ( !_static_tf_broadcaster )
{
try
{
for (const auto &extrinsics_publisher : _extrinsics_publishers)
{
const auto &ext_msg = _extrinsics_msgs[extrinsics_publisher.first];
extrinsics_publisher.second->publish( ext_msg );
}
}
catch (const std::exception &e)
{
ROS_ERROR_STREAM("Error publishing extrinsics : " << e.what());
}
}
}
}
}
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10 changes: 6 additions & 4 deletions realsense2_camera/src/rs_node_setup.cpp
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Expand Up @@ -195,7 +195,6 @@ void BaseRealSenseNode::stopPublishers(const std::vector<stream_profile>& profil
}
_metadata_publishers.erase(sip);
_extrinsics_publishers.erase(sip);
_extrinsics_msgs.erase(sip);
}
}

Expand Down Expand Up @@ -286,12 +285,15 @@ void BaseRealSenseNode::startPublishers(const std::vector<stream_profile>& profi

if (!((rs2::stream_profile)profile==(rs2::stream_profile)_base_profile))
{
// When intra process is on we cannot use latched qos, we will need to send this message periodically with volatile durability
rmw_qos_profile_t extrinsics_qos = _use_intra_process ? rmw_qos_profile_default : rmw_qos_profile_latched;

// intra-process do not support latched QoS, so we need to disable intra-process for this topic
rclcpp::PublisherOptionsWithAllocator<std::allocator<void>> options;
options.use_intra_process_comm = rclcpp::IntraProcessSetting::Disable;
rmw_qos_profile_t extrinsics_qos = rmw_qos_profile_latched;

std::string topic_extrinsics("extrinsics/" + create_graph_resource_name(ros_stream_to_string(_base_profile.stream_type()) + "_to_" + stream_name));
_extrinsics_publishers[sip] = _node.create_publisher<realsense2_camera_msgs::msg::Extrinsics>(topic_extrinsics,
rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(extrinsics_qos), extrinsics_qos));
rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(extrinsics_qos), extrinsics_qos), std::move(options));
}
}
}
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