port image_rotate on ros2

[yechun1]

1. port image_rotate on ros2

   • replace nodelet(nodelet::Nodelet) with class_loader(rclcpp::Node)
   • use ros2param instead of dymanic_reconfigure
   • update image_transport APIs
   • use tf2 time with header.stamp operation
   • replace other ros APIs with ROS2 APIs

   for test: verified based on ros2_intel_realsense package as camera image input source.
   ros2 run image_rotate image_rotate image:=/camera/color/image_raw camera_info:=/camera/color/camera_info rotated/image:=/camera/color/image_raw_rotated
   (or by launch)
   ros2 launch image_rotate image_rotate.launch.py

   set param: by ros2param as rqt_reconfigure similar UI tool has not ported yet on ROS2
   ros2 param set /ImageRotateNode target_x 0.5

2. modify code to follow ros2 coding style

[yechun1]

@mjcarroll image_rotate has been ported on ROS2, just update the APIs to ROS2 and the feature is keep the same with previous. I had verified based on ROS2 RealSense camera as raw image input. Would you please kindly help to review the code, many thanks.

[mjcarroll]

Great, I'll put this on my list to review.

I think that you'll also be interested to know that we are working on some launch improvements for composable nodes, which should directly impact some of the image_pipeline work.

[JWhitleyWork]

@yechun1 - Please rebase your branch on the ros2 branch. This will bring in fixes from melodic and the new CI.

[yechun1]

thanks for enable the CI, finished code rebase, please help review.

[yechun1]

Test:
  1. Start camera, for example run ros2_intel_realsense as camera raw image input.
  2. run rviz2 to add two images with /camera/color/image_raw and /camera_color/image_raw_rotated
  3. ros2 run image_rotate image_rotate image:=/camera/color/image_raw camera_info:=/camera/color/camera_info rotated/image:=/camera/color/image_raw_rotated
    (or by launch) ros2 launch image_rotate image_rotate.launch.py
  4. Set param: by ros2param as rqt_reconfigure similar UI tool has not ported yet on ROS2
    ros2 param set /ImageRotateNode target_x 0.5

[JWhitleyWork]

My changes are mostly semantic and some are subjective. Let me know once you've looked them over and I'll approve.

[yechun1]

@JWhitleyAStuff thanks for nice comments, I have updated the changes, would you please review again?

[yechun1]

Hope this package could be merged and publish on ROS2 D release :)