From 1860ddc965701e27c4835065585e462d46385369 Mon Sep 17 00:00:00 2001
From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com>
Date: Mon, 10 Jun 2024 09:04:55 -0400
Subject: [PATCH] [humble] image_publisher: Fix loading of the camera info
 parameters on startup (backport #983) (#996)

As described in
https://github.com/ros-perception/image_pipeline/issues/965 camera info
is not loaded from the file on node initialization, but only when the
parameter is reloaded.

This PR resolves this issue and should be straightforward to port it to
`Humble`, `Iron` and `Jazzy`.<hr>This is an automatic backport of pull
request #983 done by [Mergify](https://mergify.com).

---------

Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com>
Co-authored-by: Michael Ferguson <mfergs7@gmail.com>
---
 image_publisher/src/image_publisher.cpp | 31 ++++++++++++++-----------
 1 file changed, 17 insertions(+), 14 deletions(-)

diff --git a/image_publisher/src/image_publisher.cpp b/image_publisher/src/image_publisher.cpp
index 2dbdc02f0..667e7209c 100644
--- a/image_publisher/src/image_publisher.cpp
+++ b/image_publisher/src/image_publisher.cpp
@@ -68,7 +68,8 @@ ImagePublisher::ImagePublisher(const rclcpp::NodeOptions & options)
   auto param_change_callback =
     [this](std::vector<rclcpp::Parameter> parameters) -> rcl_interfaces::msg::SetParametersResult
     {
-      RCLCPP_INFO(get_logger(), "param_change_callback");
+      bool call_init = false;
+      bool call_reconfigure = false;
 
       auto result = rcl_interfaces::msg::SetParametersResult();
       result.successful = true;
@@ -76,35 +77,39 @@ ImagePublisher::ImagePublisher(const rclcpp::NodeOptions & options)
         if (parameter.get_name() == "filename") {
           filename_ = parameter.as_string();
           RCLCPP_INFO(get_logger(), "Reset filename as '%s'", filename_.c_str());
-          ImagePublisher::onInit();
-          return result;
+          call_init = true;
         } else if (parameter.get_name() == "field_of_view") {
           field_of_view_ = parameter.as_double();
           RCLCPP_INFO(get_logger(), "Reset field_of_view as '%f'", field_of_view_);
-          ImagePublisher::onInit();
-          return result;
+          call_init = true;
         } else if (parameter.get_name() == "flip_horizontal") {
           flip_horizontal_ = parameter.as_bool();
           RCLCPP_INFO(get_logger(), "Reset flip_horizontal as '%d'", flip_horizontal_);
-          ImagePublisher::onInit();
-          return result;
+          call_init = true;
         } else if (parameter.get_name() == "flip_vertical") {
           flip_vertical_ = parameter.as_bool();
           RCLCPP_INFO(get_logger(), "Reset flip_vertical as '%d'", flip_vertical_);
-          ImagePublisher::onInit();
-          return result;
+          call_init = true;
         } else if (parameter.get_name() == "frame_id") {
           frame_id_ = parameter.as_string();
           RCLCPP_INFO(get_logger(), "Reset frame_id as '%s'", frame_id_.c_str());
         } else if (parameter.get_name() == "publish_rate") {
           publish_rate_ = parameter.as_double();
           RCLCPP_INFO(get_logger(), "Reset publish_rate as '%lf'", publish_rate_);
+          call_reconfigure = true;
         } else if (parameter.get_name() == "camera_info_url") {
           camera_info_url_ = parameter.as_string();
-          RCLCPP_INFO(get_logger(), "Reset camera_info_rul as '%s'", camera_info_url_.c_str());
+          RCLCPP_INFO(get_logger(), "Reset camera_info_url as '%s'", camera_info_url_.c_str());
+          call_reconfigure = true;
         }
       }
-      ImagePublisher::reconfigureCallback();
+      // reconfigureCallback() is called within onInit() so there is no need to call it twice
+      if (call_reconfigure && !call_init) {
+        ImagePublisher::reconfigureCallback();
+      } else if (call_init) {
+        ImagePublisher::onInit();
+      }
+
       return result;
     };
   on_set_parameters_callback_handle_ = this->add_on_set_parameters_callback(param_change_callback);
@@ -234,9 +239,7 @@ void ImagePublisher::onInit()
   camera_info_.p = {f_approx, 0, static_cast<float>(camera_info_.width / 2), 0, 0, f_approx,
     static_cast<float>(camera_info_.height / 2), 0, 0, 0, 1, 0};
 
-  timer_ = this->create_wall_timer(
-    std::chrono::milliseconds(static_cast<int>(1000 / publish_rate_)),
-    std::bind(&ImagePublisher::doWork, this));
+  ImagePublisher::reconfigureCallback();
 }
 
 }  // namespace image_publisher