Add an option to subscribe to compressed image topics. (backport #28) #30
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* Add an option to subscribe compressed image topics Also allow for relative names in cam_base_topic * Fix code style divergence reported by colcon test * Properly forward the original header when decompressing image messages. * Update aruco_opencv/src/aruco_tracker.cpp Co-authored-by: Błażej Sowa <bsowa123@gmail.com> * Update aruco_opencv/src/aruco_tracker.cpp Co-authored-by: Błażej Sowa <bsowa123@gmail.com> * Restructure image callbacks * Remove the unnecessary 'copy elision' comment * Reset compressed_img_sub_ in on_shutdown() --------- Co-authored-by: Błażej Sowa <bsowa123@gmail.com> (cherry picked from commit 1150e04)
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I have added a new parameter called
image_sub_compressed: false. When enabled, aruco_tracker will subscribe tocam_base_topic/compressedinstead ofcam_base_topic.This modification is a workaround, because normally, image compression is handled by setting
image_transport::TransportHints. However we are unable to use image_transport with lifecycle nodes.Enabling this feature makes aruco_tracker work much faster and allows us to successfully use it with a multi-camera setup.
This is an automatic backport of pull request #28 done by [Mergify](https://mergify.com).