Skip to content

support new image transport node interface #16

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
berndpfrommer merged 1 commit into from
Sep 1, 2025
Merged

support new image transport node interface #16

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 4 additions & 4 deletions apriltag_detector/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -31,10 +31,6 @@ find_package(rclcpp)
find_package(rclcpp_components)
find_package(sensor_msgs REQUIRED)

if(${cv_bridge_VERSION} VERSION_GREATER_EQUAL "4.0.0")
add_definitions(-DUSE_CV_BRIDGE_HPP)
endif()

if(${rclcpp_VERSION} VERSION_GREATER_EQUAL "28.0.0")
add_definitions(-DUSE_MATCHED_EVENTS)
endif()
Expand All @@ -43,6 +39,10 @@ if(${image_transport_VERSION} VERSION_GREATER_EQUAL "6.3.0")
add_definitions(-DIMAGE_TRANSPORT_USE_QOS)
endif()

if(${image_transport_VERSION} VERSION_GREATER_EQUAL "6.4.0")
add_definitions(-DIMAGE_TRANSPORT_USE_NODEINTERFACE)
endif()

#
# --------- header-only library
#
Expand Down
9 changes: 7 additions & 2 deletions apriltag_detector/src/detector_component.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@
// limitations under the License.

#include <apriltag_detector/detector_component.hpp>
#ifdef USE_CV_BRIDGE_HPP
#if __has_include(<cv_bridge/cv_bridge.hpp>)
#include <cv_bridge/cv_bridge.hpp>
#else
#include <cv_bridge/cv_bridge.h>
Expand Down Expand Up @@ -109,7 +109,12 @@ void DetectorComponent::subscribe()
const auto profile = string_to_profile(image_qos_profile_);
image_sub_ = std::make_shared<image_transport::Subscriber>(
image_transport::create_subscription(
this, "image",
#ifdef IMAGE_TRANSPORT_USE_NODEINTERFACE
*this,
#else
this,
#endif
"image",
std::bind(&DetectorComponent::callback, this, std::placeholders::_1),
in_transport_, convert_profile(profile)));
is_subscribed_ = true;
Expand Down
9 changes: 5 additions & 4 deletions apriltag_draw/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -39,17 +39,18 @@ set(ament_dependencies
${sensor_msgs_TARGETS}
${apriltag_msgs_TARGETS})

if(${cv_bridge_VERSION} VERSION_GREATER_EQUAL "4.0.0")
add_definitions(-DUSE_CV_BRIDGE_HPP)
endif()

if(${rclcpp_VERSION} VERSION_GREATER_EQUAL "28.0.0")
add_definitions(-DUSE_MATCHED_EVENTS)
endif()

if(${image_transport_VERSION} VERSION_GREATER_EQUAL "6.3.0")
add_definitions(-DIMAGE_TRANSPORT_USE_QOS)
endif()

if(${image_transport_VERSION} VERSION_GREATER_EQUAL "6.4.0")
add_definitions(-DIMAGE_TRANSPORT_USE_NODEINTERFACE)
endif()

#
# --------- composable node library (public)
#
Expand Down
23 changes: 19 additions & 4 deletions apriltag_draw/src/apriltag_draw.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@
// limitations under the License.

#include <apriltag_draw/apriltag_draw.hpp>
#ifdef USE_CV_BRIDGE_HPP
#if __has_include(<cv_bridge/cv_bridge.hpp>)
#include <cv_bridge/cv_bridge.hpp>
#else
#include <cv_bridge/cv_bridge.h>
Expand Down Expand Up @@ -121,10 +121,20 @@ ApriltagDraw::ApriltagDraw(const rclcpp::NodeOptions & options)
}
};
image_pub_ = image_transport::create_publisher(
this, "image_tags", convert_profile(rmw_qos_profile_default), pub_options);
#ifdef IMAGE_TRANSPORT_USE_NODEINTERFACE
*this,
#else
this,
#endif
"image_tags", convert_profile(rmw_qos_profile_default), pub_options);
#else
image_pub_ = image_transport::create_publisher(
this, "image_tags", convert_profile(rmw_qos_profile_default));
#ifdef IMAGE_TRANSPORT_USE_NODEINTERFACE
*this,
#else
this,
#endif
"image_tags", convert_profile(rmw_qos_profile_default));

// Since the early ROS2 image transport does not call back when
// subscribers come and go: must check by polling
Expand All @@ -149,7 +159,12 @@ void ApriltagDraw::subscribe()
std::bind(&ApriltagDraw::tagCallback, this, std::placeholders::_1));
image_sub_ = std::make_shared<image_transport::Subscriber>(
image_transport::create_subscription(
this, "image",
#ifdef IMAGE_TRANSPORT_USE_NODEINTERFACE
*this,
#else
this,
#endif
"image",
std::bind(&ApriltagDraw::imageCallback, this, std::placeholders::_1),
transport_, convert_profile(qos_profile_)));
is_subscribed_ = true;
Expand Down