From 660787d565e701da9340027ccd73b4d69696607f Mon Sep 17 00:00:00 2001
From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com>
Date: Mon, 10 Jun 2024 09:05:31 -0400
Subject: [PATCH] [jazzy] image_publisher: Fix loading of the camera info
 parameters on startup (backport #983) (#995)

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>
---
 image_publisher/src/image_publisher.cpp | 31 ++++++++++++++-----------
 1 file changed, 18 insertions(+), 13 deletions(-)

diff --git a/image_publisher/src/image_publisher.cpp b/image_publisher/src/image_publisher.cpp
index 939656899..52ac724ec 100644
--- a/image_publisher/src/image_publisher.cpp
+++ b/image_publisher/src/image_publisher.cpp
@@ -74,41 +74,48 @@ ImagePublisher::ImagePublisher(
   auto param_change_callback =
     [this](std::vector<rclcpp::Parameter> parameters) -> rcl_interfaces::msg::SetParametersResult
     {
+      bool call_init = false;
+      bool call_reconfigure = false;
+
       auto result = rcl_interfaces::msg::SetParametersResult();
       result.successful = true;
       for (auto parameter : parameters) {
         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_url as '%s'", camera_info_url_.c_str());
+          RCLCPP_INFO(get_logger(), "Reset camera_info_rul 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);
@@ -241,9 +248,7 @@ 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