Use image_raw instead of image_color (#10)

README.md

@@ -93,13 +93,13 @@ The node provides the following ROS topics:
 
 ### Subscribers
 
-- **\<camera name\>/image_color** [sensor_msgs/msg/Image]
+- **\<camera name\>/image_raw** [sensor_msgs/msg/Image]
 
     Video stream from a given camera. This is a default topic subscribed by a given camera. Can be changed to compressed image via parameters.
 
     Disabled by the parameter **cameras.\<camera name\>.compressed**.
 
-- **\<camera name\>/image_color/compressed** [sensor_msgs/msg/CompressedImage]
+- **\<camera name\>/image_raw/compressed** [sensor_msgs/msg/CompressedImage]
 
     Compressed video stream from a given camera.
 

happypose_examples/launch/multi_view_demo.launch.py

@@ -46,11 +46,6 @@ def launch_setup(
                         "camera_info_url": camera_info_url,
                     }
                 ],
-                remappings=[
-                    # Remapped topics are created to match camera names in
-                    # happypose_examples/config/cosypose_params_multiview.yaml
-                    ("image_raw", "image_color"),
-                ],
             )
         )
 

happypose_examples/launch/single_view_demo.launch.py

@@ -42,11 +42,6 @@ def launch_setup(
                 "camera_info_url": camera_info_url,
             }
         ],
-        remappings=[
-            # Remapped topics have to match the names from
-            # happypose_examples/config/cosypose_params.yaml
-            ("image_raw", "image_color"),
-        ],
     )
 
     # Include common part of the demo launch files

happypose_examples/rviz/happypose_example.rviz

@@ -89,7 +89,7 @@ Visualization Manager:
         Durability Policy: Volatile
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /cam_1/image_color
+        Value: /cam_1/image_raw
       Value: true
       Visibility:
         Grid: false

happypose_examples/rviz/happypose_multiview_example.rviz

@@ -96,7 +96,7 @@ Visualization Manager:
         Durability Policy: Volatile
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /cam_1/image_color
+        Value: /cam_1/image_raw
       Value: true
     - Class: rviz_default_plugins/Image
       Enabled: true
@@ -110,7 +110,7 @@ Visualization Manager:
         Durability Policy: Volatile
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /cam_2/image_color
+        Value: /cam_2/image_raw
       Value: true
     - Class: rviz_default_plugins/Image
       Enabled: true
@@ -124,7 +124,7 @@ Visualization Manager:
         Durability Policy: Volatile
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /cam_3/image_color
+        Value: /cam_3/image_raw
       Value: true
   Enabled: true
   Global Options:

happypose_ros/happypose_ros/camera_wrapper.py

@@ -52,10 +52,10 @@ def __init__(
 
         if params.get_entry(self._camera_name).compressed:
             img_msg_type = CompressedImage
-            topic_postfix = "/image_color/compressed"
+            topic_postfix = "/image_raw/compressed"
         else:
             img_msg_type = Image
-            topic_postfix = "/image_color"
+            topic_postfix = "/image_raw"
 
         self._image = None
         self._cvb = CvBridge()

happypose_ros/test/happypose_testing_utils.py

@@ -98,9 +98,9 @@ def __init__(
                     cam[1],
                     # Choose topic name based on the type
                     (
-                        f"{cam[0]}/image_color"
+                        f"{cam[0]}/image_raw"
                         if isinstance(cam[1], Metaclass_Image)
-                        else f"{cam[0]}/image_color/compressed"
+                        else f"{cam[0]}/image_raw/compressed"
                     ),
                     10,
                 ),

happypose_ros/test/single_view_base.py

@@ -71,12 +71,12 @@ def test_02_check_topics(self) -> None:
         # Check if node subscribes to correct topics
         if self.compressed:
             self.node.assert_node_is_subscriber(
-                "cam_1/image_color/compressed",
+                "cam_1/image_raw/compressed",
                 timeout=3.0,
             )
         else:
             self.node.assert_node_is_subscriber(
-                "cam_1/image_color",
+                "cam_1/image_raw",
                 timeout=3.0,
             )
         self.node.assert_node_is_subscriber("cam_1/camera_info", timeout=3.0)

happypose_ros/test/test_multi_view_integration.py

@@ -94,11 +94,11 @@ def test_01_node_startup(self, proc_output: ActiveIoHandler) -> None:
 
     def test_02_check_topics(self) -> None:
         # Check if node subscribes to correct topics
-        self.node.assert_node_is_subscriber("cam_1/image_color", timeout=3.0)
+        self.node.assert_node_is_subscriber("cam_1/image_raw", timeout=3.0)
         self.node.assert_node_is_subscriber("cam_1/camera_info", timeout=3.0)
-        self.node.assert_node_is_subscriber("cam_2/image_color/compressed", timeout=3.0)
+        self.node.assert_node_is_subscriber("cam_2/image_raw/compressed", timeout=3.0)
         self.node.assert_node_is_subscriber("cam_2/camera_info", timeout=3.0)
-        self.node.assert_node_is_subscriber("cam_3/image_color", timeout=3.0)
+        self.node.assert_node_is_subscriber("cam_3/image_raw", timeout=3.0)
         self.node.assert_node_is_subscriber("cam_3/camera_info", timeout=3.0)
         self.node.assert_node_is_publisher("happypose/detections", timeout=3.0)
         self.node.assert_node_is_publisher("happypose/vision_info", timeout=3.0)