ros-perception · mikeferguson · Feb 9, 2024 · Feb 9, 2024
diff --git a/camera_calibration/doc/changes.rst b/camera_calibration/doc/changes.rst
diff --git a/camera_calibration/doc/index.rst b/camera_calibration/doc/index.rst
@@ -135,4 +135,3 @@ To run the command-line utility to check the calibration of a stereo camera:
    tutorial_mono
    tutorial_stereo
    api
-   changes
diff --git a/depth_image_proc/doc/changes.rst b/depth_image_proc/doc/changes.rst
diff --git a/depth_image_proc/doc/index.rst b/depth_image_proc/doc/index.rst
@@ -31,7 +31,6 @@ For an example of ``depth_image_proc`` in practice, examine the contents of
    self
    components
    tutorials
-   changes
    image_proc <generated/index>
 
 Indices and tables

diff --git a/depth_image_proc/doc/tutorials.rst b/depth_image_proc/doc/tutorials.rst
@@ -56,22 +56,4 @@ parameter is used:
 
 Remapping camera_info Topics
 ----------------------------
-When a ``camera_info`` topic is needed, an image_transport camera subscriber
-is typically used. ROS 2 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``.
+See `tutorial in image_pipline <https://docs.ros.org/en/rolling/p/image_pipeline/tutorials.html#remapping-camera-info-topics>`_.
diff --git a/image_pipeline/doc/changelog.rst b/image_pipeline/doc/changelog.rst
@@ -0,0 +1,40 @@
+Changelog Notes
+===============
+
+While there is an official changelog for each package, this page summarizes
+the major changes between distributions
+
+Changes in Jazzy Jalisco
+------------------------
+There are several major change between ``Iron`` and ``Jazzy``:
+
+ * All components now properly support ``image_transport`` paramter,
+   or ``depth_image_transport`` parameter if the topic is a depth image.
+   In most places, this consists of simply adding the parameter, or making
+   the parameter work, however two cases should be noted where the
+   parameter was renamed:
+
+   * image_view::ExtractImages: incorrectly named parameter ``transport``
+     was renamed to more consistent ``image_transport``.
+   * imaeg_view::StereoView: incorrectly named parameter ``transport``
+     was renamed to more consistent ``image_transport``.
+
+ * Improvements to QoS support:
+
+   * Most components now support QoS overrides via ROS 2 parameters
+   * The ``use_system_default_qos`` parameter has been removed from
+     stereo_image_proc::DisparityNode and stereo_image_proc::PointCloudNode
+     as the QoS overrides are the newer, preferred method.
+
+ * All components now properly support remapping the ``camera_info`` topic
+   for an associated ``image`` topic. For instance, if you remap ``image``
+   to ``my/image`` then ``my/camera_info`` will be used. Previously you
+   would have to manually remap the ``camera_info`` topic. See also
+   :ref:`Remapping camera_info Topics`.
+ * The input of ``depth_image_proc/point_cloud_xyz_radial`` is renamed
+   from ``image_raw`` to ``depth/image_raw`` for consistency.
+ * The inputs of ``depth_image_proc/point_cloud_xyzrgb_radial`` are renamed
+   from ``depth_registered/image_rect`` to ``depth/image_raw`` and
+   ``rgb/image_rect_color`` to ``rgb/image_raw`` to make clear that the
+   unrectified camera projection matrix is used, and for consistency with
+   other radial nodes.
diff --git a/image_pipeline/doc/index.rst b/image_pipeline/doc/index.rst
@@ -30,6 +30,7 @@ stereo disparity images, and stereo point clouds. Components include:
 
    self
    camera_info
+   changelog
    camera_calibration <../camera_calibration/index.html#http://>
    depth_image_proc <../depth_image_proc/index.html#http://>
    image_proc <../image_proc/index.html#http://>

diff --git a/image_proc/doc/changes.rst b/image_proc/doc/changes.rst
diff --git a/image_proc/doc/index.rst b/image_proc/doc/index.rst
@@ -24,7 +24,6 @@ The images above were produced using the tutorial :ref:`Using image_proc Launch
    self
    components
    tutorials
-   changes
    image_proc <generated/index>
 
 Indices and tables

diff --git a/image_proc/doc/tutorials.rst b/image_proc/doc/tutorials.rst
@@ -73,25 +73,7 @@ networks, such as WiFi, it can be helpful to use ``compressed`` format.
 
 Remapping camera_info Topics
 ----------------------------
-When a ``camera_info`` topic is needed, an image_transport camera subscriber
-is typically used. ROS 2 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``.
+See `tutorial in image_pipline <https://docs.ros.org/en/rolling/p/image_pipeline/tutorials.html#remapping-camera-info-topics>`_.
 
 .. _Using image_proc Launch File:
 

diff --git a/image_publisher/doc/changes.rst b/image_publisher/doc/changes.rst
diff --git a/image_publisher/doc/index.rst b/image_publisher/doc/index.rst
@@ -6,7 +6,7 @@ as a ROS 2 image topic.
 
 Simplest example is:
 
-.. code-block: bash
+.. code-block:: bash
 
    ros2 run image_publisher image_publisher /opt/ros/rolling/share/rviz/images/splash.png
 
@@ -15,7 +15,6 @@ Simplest example is:
 
    self
    components
-   changes
    image_publisher <generated/index>
 
 Indices and tables

diff --git a/image_rotate/doc/changes.rst b/image_rotate/doc/changes.rst
diff --git a/image_rotate/doc/images/image_rotate.jpg b/image_rotate/doc/images/image_rotate.jpg
diff --git a/image_rotate/doc/index.rst b/image_rotate/doc/index.rst
@@ -26,7 +26,6 @@ borders, and does not output a ``camera_info``.
 
    self
    components
-   changes
    image_rotate <generated/index>
 
 Indices and tables

diff --git a/image_view/doc/changes.rst b/image_view/doc/changes.rst
diff --git a/image_view/doc/index.rst b/image_view/doc/index.rst
@@ -59,7 +59,6 @@ parameter.
 
    self
    components
-   changes
    image_view <generated/index>
 
 Indices and tables

diff --git a/stereo_image_proc/doc/changes.rst b/stereo_image_proc/doc/changes.rst
diff --git a/stereo_image_proc/doc/index.rst b/stereo_image_proc/doc/index.rst
@@ -48,7 +48,6 @@ viewed with ``stereo_view`` from the ``image_view`` package.
    components
    configuration
    tutorials
-   changes
    stereo_image_proc <generated/index>
 
 Indices and tables
-Original file line number
+Diff line change
@@ Expand Up @@
        tutorial_mono
        tutorial_stereo
        api
-       changes