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Add QoS profile parameter to image bridge #335

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merged 4 commits into from
Feb 8, 2023
Merged

Add QoS profile parameter to image bridge #335

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d194dd6
Add QoS profile parameter to image bridge
sea-bass Dec 5, 2022
72c2a03
Style fixes
sea-bass Dec 5, 2022
4d7ecf8
Reorder headers to make cpplint happy
sea-bass Dec 6, 2022
0e4f2ef
Add information to README.md
sea-bass Dec 6, 2022
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30 changes: 24 additions & 6 deletions ros_gz_image/src/image_bridge.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,26 +18,44 @@
#include <string>
#include <vector>

#include <rmw/qos_profiles.h>
#include <gz/transport/Node.hh>
#include <rclcpp/rclcpp.hpp>
#include <image_transport/image_transport.hpp>
#include <ros_gz_bridge/convert.hpp>

//////////////////////////////////////////////////
/// \brief Bridges one topic
/// \brief Bridges one image topic
class Handler
{
public:
/// \brief Constructor
/// \param[in] _topic Image base topic
/// \param[in] _it_node Pointer to image transport node
/// \param[in] _node Pointer to ROS node
/// \param[in] _gz_node Pointer to Gazebo node
Handler(
const std::string & _topic,
std::shared_ptr<image_transport::ImageTransport> _it_node,
std::shared_ptr<rclcpp::Node> _node,
std::shared_ptr<gz::transport::Node> _gz_node)
{
this->ros_pub = _it_node->advertise(_topic, 1);
// Get QoS profile from parameter
rmw_qos_profile_t qos_profile = rmw_qos_profile_default;
const auto qos_str =
_node->get_parameter("qos").get_parameter_value().get<std::string>();
if (qos_str == "system_default") {
qos_profile = rmw_qos_profile_system_default;
} else if (qos_str == "sensor_data") {
qos_profile = rmw_qos_profile_sensor_data;
} else if (qos_str != "default") {
RCLCPP_ERROR(
_node->get_logger(),
"Invalid QoS profile %s specified. Using default profile.",
qos_str.c_str());
}

// Create publishers and subscribers
this->ros_pub = image_transport::create_publisher(
_node.get(), _topic, qos_profile);

_gz_node->Subscribe(_topic, &Handler::OnImage, this);
}
Expand Down Expand Up @@ -77,7 +95,7 @@ int main(int argc, char * argv[])

// ROS node
auto node_ = rclcpp::Node::make_shared("ros_gz_image");
auto it_node = std::make_shared<image_transport::ImageTransport>(node_);
node_->declare_parameter("qos", "default");

// Gazebo node
auto gz_node = std::make_shared<gz::transport::Node>();
Expand All @@ -91,7 +109,7 @@ int main(int argc, char * argv[])

// Create publishers and subscribers
for (auto topic : args) {
handlers.push_back(std::make_shared<Handler>(topic, it_node, gz_node));
handlers.push_back(std::make_shared<Handler>(topic, node_, gz_node));
}

// Spin ROS and Gz until shutdown
Expand Down