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[forward port] Image publishers use SensorDataQoSProfile (#1031) #1052

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merged 2 commits into from
Jun 17, 2020
Merged

[forward port] Image publishers use SensorDataQoSProfile (#1031) #1052

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e6ddca1
Image publishers use SensorDataQoSProfile (#1031)
jacobperron Jan 15, 2020
ea7a809
Fix typo from rebase
jacobperron Jun 12, 2020
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7 changes: 4 additions & 3 deletions gazebo_plugins/src/gazebo_ros_camera.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -182,7 +182,7 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
image_transport::create_publisher(
impl_->ros_node_.get(),
camera_topic,
qos.get_publisher_qos(camera_topic).get_rmw_qos_profile()));
qos.get_publisher_qos(camera_topic, rclcpp::SensorDataQoS()).get_rmw_qos_profile()));

// TODO(louise) Uncomment this once image_transport::Publisher has a function to return the
// full topic.
Expand All @@ -208,7 +208,8 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
impl_->image_pub_.push_back(
image_transport::create_publisher(
impl_->ros_node_.get(),
camera_topic, qos.get_publisher_qos(camera_topic).get_rmw_qos_profile()));
camera_topic,
qos.get_publisher_qos(camera_topic, rclcpp::SensorDataQoS()).get_rmw_qos_profile()));

// RCLCPP_INFO(
// impl_->ros_node_->get_logger(), "Publishing %s camera images to [%s]",
Expand All @@ -235,7 +236,7 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
impl_->depth_image_pub_ = image_transport::create_publisher(
impl_->ros_node_.get(),
depth_topic,
qos.get_publisher_qos(depth_topic).get_rmw_qos_profile());
qos.get_publisher_qos(depth_topic, rclcpp::SensorDataQoS()).get_rmw_qos_profile());

// RCLCPP_INFO(impl_->ros_node_->get_logger(), "Publishing depth images to [%s]",
// impl_->depth_image_pub_.getTopic().c_str());
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