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depth_image_proc: consistent image_transport #900

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merged 2 commits into from
Jan 19, 2024
Merged

depth_image_proc: consistent image_transport #900

merged 2 commits into from
Jan 19, 2024

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mikeferguson
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This still needs testing around the camera_info topics remapping properly - just opening for visibility

@mikeferguson mikeferguson mentioned this pull request Jan 19, 2024
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@mikeferguson mikeferguson force-pushed the depth_image_proc_transport branch from 5832c02 to 5818498 Compare January 19, 2024 19:05
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Changes to document:

  • xyz_radial, xyzi_radial - renamed depth/image_raw to depth/image_rect for consistency with every other node
  • all of the "point cloud node" depth input topics use depth_image_transport - even if there isn't an rgb or intensity image being subscribed to. This is a change from ROS 1, but image_transport wasn't even supported in this package previously in ROS 2, so not a change that will impact people.

Testing notes:

  • As with stereo_image_proc - you can remap the camera_info topics to override the name, but you have to use the name of the topic after the camera topic itself is remapped
  • every node was manually tested to be sure that our topics remap as expected (camera_info follows camera topic rules, compressed gets remapped as expected)
  • Convert metric and crop foremost use image_transport for output, so update those to support remapping properly

@mikeferguson mikeferguson marked this pull request as ready for review January 19, 2024 20:31
@mikeferguson mikeferguson requested a review from ahcorde January 19, 2024 20:32
@mikeferguson mikeferguson mentioned this pull request Jan 19, 2024
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@mikeferguson mikeferguson merged commit 135e07f into ros-perception:rolling Jan 19, 2024
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@mikeferguson mikeferguson deleted the depth_image_proc_transport branch January 19, 2024 22:49
This was referenced Jan 20, 2024
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mikeferguson added a commit that referenced this pull request Jan 22, 2024
@mikeferguson
depth_image_proc: update launch files (#905)
13ef7ed 
* follow up to #900 - had not noticed these launch files at the time
* remove camera_info topics that auto remap now
Kotochleb pushed a commit to Kotochleb/image_pipeline that referenced this pull request May 27, 2024
@mikeferguson
depth_image_proc: consistent image_transport (ros-perception#900)
81cbac3 
 * all node support image_transport and/or depth_image_transport parameters.
 * point cloud nodes use depth_image_transport parameter for all depth inputs
 * fixes so that remapping works appropriately for image topics, even when using transports other than raw
 * fixes so that remapping works appropriately for image_transport outputs (crop/convert nodes)
 * support remapping camera_info topics
Kotochleb pushed a commit to Kotochleb/image_pipeline that referenced this pull request May 27, 2024
@mikeferguson
depth_image_proc: update launch files (ros-perception#905)
f02465b 
* follow up to ros-perception#900 - had not noticed these launch files at the time
* remove camera_info topics that auto remap now
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@ahcorde ahcorde ahcorde approved these changes

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@mikeferguson @ahcorde