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Add QoS overrides to stereo_image_proc #651

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Merged
merged 6 commits into from
Jul 22, 2021
Merged

Add QoS overrides to stereo_image_proc #651

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ceecd10
Allow QoS overrides for publishers
paudrow Apr 14, 2021
ced5896
Remove QosPolicyKind::Invalid
paudrow Apr 15, 2021
ebedb89
Add subscriber qos overrides
paudrow Apr 28, 2021
ce39e25
Use SubscriptionOptions
paudrow May 18, 2021
2aebe85
Improve formatting
paudrow May 19, 2021
67848fe
Use with_default_policies
paudrow May 19, 2021
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17 changes: 12 additions & 5 deletions stereo_image_proc/src/stereo_image_proc/disparity_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -265,7 +265,10 @@ DisparityNode::DisparityNode(const rclcpp::NodeOptions & options)
this->declare_parameters("", double_params);
this->declare_parameters("", bool_params);

pub_disparity_ = create_publisher<stereo_msgs::msg::DisparityImage>("disparity", 1);
// Update the publisher options to allow reconfigurable qos settings.
rclcpp::PublisherOptions pub_opts;
pub_opts.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
pub_disparity_ = create_publisher<stereo_msgs::msg::DisparityImage>("disparity", 1, pub_opts);

// TODO(jacobperron): Replace this with a graph event.
// Only subscribe if there's a subscription listening to our publisher.
Expand All @@ -283,10 +286,14 @@ void DisparityNode::connectCb()
image_sub_qos = rclcpp::SystemDefaultsQoS();
}
const auto image_sub_rmw_qos = image_sub_qos.get_rmw_qos_profile();
sub_l_image_.subscribe(this, "left/image_rect", hints.getTransport(), image_sub_rmw_qos);
sub_l_info_.subscribe(this, "left/camera_info", image_sub_rmw_qos);
sub_r_image_.subscribe(this, "right/image_rect", hints.getTransport(), image_sub_rmw_qos);
sub_r_info_.subscribe(this, "right/camera_info", image_sub_rmw_qos);
auto sub_opts = rclcpp::SubscriptionOptions();
sub_opts.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
sub_l_image_.subscribe(
this, "left/image_rect", hints.getTransport(), image_sub_rmw_qos, sub_opts);
sub_l_info_.subscribe(this, "left/camera_info", image_sub_rmw_qos, sub_opts);
sub_r_image_.subscribe(
this, "right/image_rect", hints.getTransport(), image_sub_rmw_qos, sub_opts);
sub_r_info_.subscribe(this, "right/camera_info", image_sub_rmw_qos, sub_opts);
}

void DisparityNode::imageCb(
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16 changes: 11 additions & 5 deletions stereo_image_proc/src/stereo_image_proc/point_cloud_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -130,7 +130,10 @@ PointCloudNode::PointCloudNode(const rclcpp::NodeOptions & options)
std::bind(&PointCloudNode::imageCb, this, _1, _2, _3, _4));
}

pub_points2_ = create_publisher<sensor_msgs::msg::PointCloud2>("points2", 1);
// Update the publisher options to allow reconfigurable qos settings.
rclcpp::PublisherOptions pub_opts;
pub_opts.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
pub_points2_ = create_publisher<sensor_msgs::msg::PointCloud2>("points2", 1, pub_opts);

// TODO(jacobperron): Replace this with a graph event.
// Only subscribe if there's a subscription listening to our publisher.
Expand All @@ -148,10 +151,13 @@ void PointCloudNode::connectCb()
image_sub_qos = rclcpp::SystemDefaultsQoS();
}
const auto image_sub_rmw_qos = image_sub_qos.get_rmw_qos_profile();
sub_l_image_.subscribe(this, "left/image_rect_color", hints.getTransport(), image_sub_rmw_qos);
sub_l_info_.subscribe(this, "left/camera_info", image_sub_rmw_qos);
sub_r_info_.subscribe(this, "right/camera_info", image_sub_rmw_qos);
sub_disparity_.subscribe(this, "disparity", image_sub_rmw_qos);
auto sub_opts = rclcpp::SubscriptionOptions();
sub_opts.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
sub_l_image_.subscribe(
this, "left/image_rect_color", hints.getTransport(), image_sub_rmw_qos, sub_opts);
sub_l_info_.subscribe(this, "left/camera_info", image_sub_rmw_qos, sub_opts);
sub_r_info_.subscribe(this, "right/camera_info", image_sub_rmw_qos, sub_opts);
sub_disparity_.subscribe(this, "disparity", image_sub_rmw_qos, sub_opts);
}

inline bool isValidPoint(const cv::Vec3f & pt)
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