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Switch to use the recommended SensorDataQoS settings #339

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Switch to use the recommended SensorDataQoS settings #339

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9 changes: 6 additions & 3 deletions src/ros2/usb_cam_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -46,7 +46,7 @@ UsbCamNode::UsbCamNode(const rclcpp::NodeOptions & node_options)
m_compressed_img_msg(nullptr),
m_image_publisher(std::make_shared<image_transport::CameraPublisher>(
image_transport::create_camera_publisher(this, BASE_TOPIC_NAME,
rclcpp::QoS {100}.get_rmw_qos_profile()))),
rclcpp::SensorDataQoS().get_rmw_qos_profile()))),
m_compressed_image_publisher(nullptr),
m_compressed_cam_info_publisher(nullptr),
m_parameters(),
Expand Down Expand Up @@ -169,17 +169,20 @@ void UsbCamNode::init()
return;
}

// Note: these are only used to skip using the typical image_transport
// plugin and only publish the compressed image topic
//
// if pixel format is equal to 'mjpeg', i.e. raw mjpeg stream, initialize compressed image message
// and publisher
if (m_parameters.pixel_format_name == "mjpeg") {
m_compressed_img_msg.reset(new sensor_msgs::msg::CompressedImage());
m_compressed_img_msg->header.frame_id = m_parameters.frame_id;
m_compressed_image_publisher =
this->create_publisher<sensor_msgs::msg::CompressedImage>(
std::string(BASE_TOPIC_NAME) + "/compressed", rclcpp::QoS(100));
std::string(BASE_TOPIC_NAME) + "/compressed", rclcpp::SensorDataQoS());
m_compressed_cam_info_publisher =
this->create_publisher<sensor_msgs::msg::CameraInfo>(
"camera_info", rclcpp::QoS(100));
"camera_info", rclcpp::SensorDataQoS());
}

m_image_msg->header.frame_id = m_parameters.frame_id;
Expand Down
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