QoS improvements for image_proc and stereo_image_proc #922
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
|
A few notes:
I almost think we should just remove the automatic publisher QoS and set it to SystemDefaultQoS + Overrides (which is at least deterministic). |
mikeferguson
commented
Feb 1, 2024
| pub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies(); | ||
|
|
||
| // Create publisher with QoS matched to subscribed topic publisher | ||
| auto qos_profile = getTopicQosProfile(this, image_topic_); |
There was a problem hiding this comment.
only change here is actually passing in image_topic_ rather than "image_raw" (technically still worked before, but leaves open the possibility of the topic names getting out of sync)
mikeferguson
commented
Feb 1, 2024
| ( | ||
| 'right/image_rect_color', | ||
| [LaunchConfiguration('right_namespace'), '/image_rect_color'] | ||
| ), |
There was a problem hiding this comment.
this was a relevant patch from #720 (which was an alternative approach, before the overriding was really available)
ahcorde
approved these changes
Feb 1, 2024
Kotochleb
pushed a commit
to Kotochleb/image_pipeline
that referenced
this pull request
May 27, 2024
…#922) First part of ros-perception#847 * Add QoS overrides for all publishers (in the new, standard way) * stereo_image_proc: Default subscriber QoS to SensorDataQoS * Clean up some of the comments around lazy subscribers, make them more consistent across nodes
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
First part of #847