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[rolling] image_publisher: Fix loading of the camera info parameters on startup #983

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merged 6 commits into from
May 29, 2024
Merged

[rolling] image_publisher: Fix loading of the camera info parameters on startup #983

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e9f0774
Fix loading of the camera info parameters on startup
Kotochleb May 25, 2024
c5ae220
Fix linter errors
Kotochleb May 25, 2024
c31514d
Else bracket in the same line
Kotochleb May 25, 2024
2d58d0e
Apply ament_uncrustify
Kotochleb May 25, 2024
149ed41
Remove callback log
Kotochleb May 27, 2024
8996ed3
Merge branch 'rolling' into bugfix/image-publisher-camera-info-startup
Kotochleb May 28, 2024
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31 changes: 18 additions & 13 deletions image_publisher/src/image_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
Expand Down Expand Up @@ -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(
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if you remove these lines the dowork method will never be called and the image will be never flipped

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The timer is set in the reconfigureCallback. I didn't want to repeat the CameraInfoManager block of code in onInit and did not want to create timer there just to recreate it once again in reconfigureCallback.

std::chrono::milliseconds(static_cast<int>(1000 / publish_rate_)),
std::bind(&ImagePublisher::doWork, this));
ImagePublisher::reconfigureCallback();
}

} // namespace image_publisher
Expand Down
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