AfWindows #14
AfWindows #14
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Update camera_launch.py
| if (id->name() == "AfWindows") | ||
| continue; |
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You cannot just ignore a parameter. What about other users that want to make use of it? And the commit message does not describe what you change and why.
| auto qos_override_options = rclcpp::QosOverridingOptions({ | ||
| rclcpp::QosPolicyKind::Depth, | ||
| rclcpp::QosPolicyKind::History, | ||
| rclcpp::QosPolicyKind::Reliability, | ||
| rclcpp::QosPolicyKind::Durability, | ||
| }); | ||
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| rclcpp::PublisherOptions pub_options; | ||
| pub_options.qos_overriding_options = qos_override_options; | ||
| // publisher for raw and compressed image | ||
| pub_image = this->create_publisher<sensor_msgs::msg::Image>("~/image_raw", 1); | ||
| pub_image = this->create_publisher<sensor_msgs::msg::Image>("~/image_raw", 1, pub_options); | ||
| pub_image_compressed = | ||
| this->create_publisher<sensor_msgs::msg::CompressedImage>("~/image_raw/compressed", 1); | ||
| pub_ci = this->create_publisher<sensor_msgs::msg::CameraInfo>("~/camera_info", 1); | ||
| this->create_publisher<sensor_msgs::msg::CompressedImage>("~/image_raw/compressed", 1, pub_options); | ||
| pub_ci = this->create_publisher<sensor_msgs::msg::CameraInfo>("~/camera_info", 1, pub_options); |
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Why are you changing the default QoS settings? If you need to change the QoS settings, you can also do this via parameters. See qos_overrides in the full list of parameters: ros2 param list.
| # install the launch directory | ||
| install(DIRECTORY | ||
| launch | ||
| DESTINATION share/${PROJECT_NAME}/ | ||
| ) | ||
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I would prefer not to add a launch file in this repo since the node already uses sensible defaults provided by libcamera.
launch/camera_launch.py
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| DeclareLaunchArgument("width", default_value="1280", description="Camera image width"), | ||
| DeclareLaunchArgument("height", default_value="720", description="Camera image height"), |
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These defaults may not work for every camera.
launch/camera_launch.py
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| # You can add other launch arguments as needed. | ||
| # Run the camera_node with the specified parameters. | ||
| Node( | ||
| package="camera_ros", | ||
| executable="camera_node", | ||
| name="camera", | ||
| output="screen", # Adjust the output as needed. | ||
| parameters=[ | ||
| {"width": LaunchConfiguration("width")}, | ||
| {"height": LaunchConfiguration("height")}, | ||
| {"qos_overrides./camera/image_raw.publisher.reliability": "best_effort"}, | ||
| {"qos_overrides./camera/image_raw/compressed.publisher.reliability": "best_effort"}, | ||
| {"qos_overrides./camera/camera_info.publisher.reliability": "best_effort"}, | ||
| ], | ||
| remappings=[], # Add remappings if necessary. | ||
| arguments=["--log-level", LaunchConfiguration("log_level")], | ||
| ), | ||
| # You can add additional nodes or actions here as needed. |
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Most of these comments are redundant as they apply to generic launch file configurations, which are already documented in the official documentation.
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Oh sorry for the dirty code. |
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You seem to add unrelated commits to this PR. Are you intending to address your issue with the |
#13
Avoid AfWindows parameter to work properly.
Raspberry pi 4 b with latest os and rapicam v3