From a6e9060a4955cee19cdec3d0a0247334600f0473 Mon Sep 17 00:00:00 2001 From: Michael Ferguson Date: Sun, 11 Feb 2024 10:00:31 -0500 Subject: [PATCH] add missing tutorial page (#939) This was supposed to be part of #938 --- image_pipeline/doc/index.rst | 1 + image_pipeline/doc/tutorials.rst | 26 ++++++++++++++++++++++++++ 2 files changed, 27 insertions(+) create mode 100644 image_pipeline/doc/tutorials.rst diff --git a/image_pipeline/doc/index.rst b/image_pipeline/doc/index.rst index c5e985920..586bc4f72 100644 --- a/image_pipeline/doc/index.rst +++ b/image_pipeline/doc/index.rst @@ -30,6 +30,7 @@ stereo disparity images, and stereo point clouds. Components include: self camera_info + tutorials changelog camera_calibration <../camera_calibration/index.html#http://> depth_image_proc <../depth_image_proc/index.html#http://> diff --git a/image_pipeline/doc/tutorials.rst b/image_pipeline/doc/tutorials.rst new file mode 100644 index 000000000..b5e83a32e --- /dev/null +++ b/image_pipeline/doc/tutorials.rst @@ -0,0 +1,26 @@ +Tutorials +========= + +.. _`Remapping camera_info Topics`: + +Remapping camera_info Topics +---------------------------- +When a ``camera_info`` topic is needed, an image_transport camera subscriber +is typically used. ROS convention for naming ``camera_info`` topics is: + + * **camera/image** - an image in namespace ``camera``. + * **camera/camera_info** - the associated camera info. + +So if a node subscribes to a topic called ``image``, and the user remaps this +to ``my_camera/image``, then the associated camera info will be automatically +remapped to ``mycamera/camera_info``. + +Most ROS 2 camera drivers will follow the convention, but occasionally they do +not. In this case, you will have to manually remap the camera_info - but due +to the way that ROS 2 remapping works you have to use the fully resolved +camera info topic. An example: + + * ``image`` is remapped to ``my_camera/image``. + * The fully resolved name for the camera info is now ``my_camera/camera_info``. + * If your camera driver actually publishes ``another_ns/camera_info``, then + you would have to remap ``my_camera/camera_info`` to ``another_ns/camera_info``.