Skip to content

Commit

Permalink
add missing tutorial page
Browse files Browse the repository at this point in the history
  • Loading branch information
mikeferguson committed Feb 11, 2024
1 parent 81802ae commit 66ac96d
Showing 1 changed file with 26 additions and 0 deletions.
26 changes: 26 additions & 0 deletions image_pipeline/doc/tutorials.rst
Original file line number Diff line number Diff line change
@@ -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``.

0 comments on commit 66ac96d

Please sign in to comment.