Update compressed_image_transport to ros2 #26
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This PR should be reviews used changes in ros-perception/image_common#84, right? |
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Correct, it depends on the image_transport port to ROS2. |
| @@ -51,29 +53,37 @@ namespace enc = sensor_msgs::image_encodings; | |||
| namespace compressed_image_transport | |||
| { | |||
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| void CompressedPublisher::advertiseImpl(ros::NodeHandle &nh, const std::string &base_topic, uint32_t queue_size, | |||
| const image_transport::SubscriberStatusCallback &user_connect_cb, | |||
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We are not porting the SubscriberStatusCallback to ROS2. Looking for the similiar feature I found a answer.ros.org by William explaining in March that the feature is not implemented yet. I assume that it is still unimplemented.
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Correct, it remains unimplemented.
| @@ -127,35 +138,36 @@ void CompressedPublisher::publish(const sensor_msgs::Image& message, const Publi | |||
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| float cRatio = (float)(cv_ptr->image.rows * cv_ptr->image.cols * cv_ptr->image.elemSize()) | |||
| / (float)compressed.data.size(); | |||
| ROS_DEBUG("Compressed Image Transport - Codec: jpg, Compression Ratio: 1:%.2f (%lu bytes)", cRatio, compressed.data.size()); | |||
| //ROS_DEBUG("Compressed Image Transport - Codec: jpg, Compression Ratio: 1:%.2f (%lu bytes)", cRatio, compressed.data.size()); | |||
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RCUTILS_LOG_DEBUG here and in the rest of removals?
| } | ||
| else | ||
| { | ||
| ROS_ERROR("cv::imencode (png) failed on input image"); | ||
| //ROS_ERROR("cv::imencode (png) failed on input image"); |
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RCUTILS_LOG_ERROR here and in the rest of removals?
| void CompressedPublisher::advertiseImpl(ros::NodeHandle &nh, const std::string &base_topic, uint32_t queue_size, | ||
| const image_transport::SubscriberStatusCallback &user_connect_cb, | ||
| const image_transport::SubscriberStatusCallback &user_disconnect_cb, | ||
| const ros::VoidPtr &tracked_object, bool latch) |
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tracked_object was removed from the arguments, just checking that it was on propose.
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Correct, it was removed in the image_transport as well.
| } | ||
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| void CompressedSubscriber::configCb(Config& config, uint32_t level) |
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not sure if it could help the future implementation of parameters to leave the configCb code as a comment
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I made a config struct that mirrors the config, I figure we can always jump back in the git log to get this.
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Latest changes look good to me. |
Basic port
TODO: