Support sensor data QOS on image_proc #720
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JWhitleyWork
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Dec 4, 2022
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@coalman321 |
Looking at the build farm logs, these are all issues with include order. I did not have any changes made to them in this commit, so this would have been failing prior. I can fix them, but they may have already been fixed. |
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Assigning to myself to look at this as part of #847 |
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Superseded by #922 - which implements the newer QoS overriding approach (which is now the default throughout ROS2). Our old parameter was actually listed as an "ad-hoc" work around in the design document for this feature: http://design.ros2.org/articles/qos_configurability.html |
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Adds support for image_proc nodes to enable Sensor Data QOS profile on input and output image topics. This fix is designed to allow camera data to come in from the gazebo_ros camera plugin which uses Sensor Data QOS by default. This also patches an issue with the stereo_image_proc launch file where the right input topic was not re-mapped in the launch file, and only the left topic was remapped.
This PR has already been linted via
colcon testas well asament_uncrustify --reformat. The changes have no impact on the default behavior of all changed nodes. All changes have been tested against ROS2 galactic and have been confirmed to work as intended.