Add QoS profile parameter to image bridge

[sea-bass]

🎉 New feature

Closes #336

Summary

This PR modifies the image_bridge node in the ros_gz_image package to optionally specify a different (non-default) QoS profile. This was motivated by the fact that we (and presumably many others) want to use the "sensor data" QoS profile.

This exposes a new string parameter in the node named qos which defaults to default. This should be the same behavior as the original implementation of image_bridge.cpp.

Summary

Test it

To test this, you can run an image bridge:

ros2 run ros_gz_image image_bridge /topic1 /topic2
ros2 run ros_gz_image image_bridge /topic1 /topic2 --ros-args qos:=sensor_data

or in e.g. a Python launch file:

bridge_node = Node(
        package="ros_gz_image",
        executable="image_bridge",
        name="my_bridge",
        arguments=["/topic1", "/topic2"],
        parameters=[{"qos": "sensor_data"}],
    )

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[ahcorde]

can you add some documentation in the README.md of this packages?

[ahcorde]

cpplint is failing too

3: /github/home/ws/src/ros_gz/ros_gz_image/src/image_bridge.cpp:21:  Found C system header after C++ system header. Should be: image_bridge.h, c system, c++ system, other.  [build/include_order] [4]

[sea-bass]

cpplint is failing too

3: /github/home/ws/src/ros_gz/ros_gz_image/src/image_bridge.cpp:21:  Found C system header after C++ system header. Should be: image_bridge.h, c system, c++ system, other.  [build/include_order] [4]

Somehow this issue was there for the code even without my modifications. Anyways, I've rearranged it and got rid of this check failing locally. Added doc as well.

Also sorry for the force-pushing. I keep forgetting to sign my commits :/

[sea-bass]

Anything else blocking kicking off CI? I think I got all the changes.

[livanov93]

Anything else blocking kicking off CI? I think I got all the changes.

@ahcorde Let's merge this one as we are in the new year now. Anything that needs attention from your perspective?