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avoid deprecated image transport functions #9

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Merged
berndpfrommer merged 1 commit into from
Jul 29, 2025
Merged

avoid deprecated image transport functions #9

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4 changes: 4 additions & 0 deletions apriltag_detector/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,10 @@ 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()

#
# --------- header-only library
#
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16 changes: 14 additions & 2 deletions apriltag_detector/src/detector_component.cpp
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Expand Up @@ -92,14 +92,26 @@ rmw_qos_profile_t string_to_profile(const std::string & s)
return (rmw_qos_profile_default);
}

#ifdef IMAGE_TRANSPORT_USE_QOS
static rclcpp::QoS convert_profile(const rmw_qos_profile_t & p)
{
return (rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(p), p));
}
#else
static const rmw_qos_profile_t & convert_profile(const rmw_qos_profile_t & p)
{
return (p);
}
#endif

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",
std::bind(&DetectorComponent::callback, this, std::placeholders::_1),
in_transport_,
string_to_profile(image_qos_profile_))); // rmw_qos_profile_default);//
in_transport_, convert_profile(profile)));
is_subscribed_ = true;
}

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4 changes: 4 additions & 0 deletions apriltag_draw/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,10 @@ 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()
#
# --------- composable node library (public)
#
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18 changes: 15 additions & 3 deletions apriltag_draw/src/apriltag_draw.cpp
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Expand Up @@ -86,6 +86,18 @@ static rmw_qos_profile_t string_to_profile(const std::string & s)
return (rmw_qos_profile_default);
}

#ifdef IMAGE_TRANSPORT_USE_QOS
static rclcpp::QoS convert_profile(const rmw_qos_profile_t & p)
{
return (rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(p), p));
}
#else
static const rmw_qos_profile_t & convert_profile(const rmw_qos_profile_t & p)
{
return (p);
}
#endif

ApriltagDraw::ApriltagDraw(const rclcpp::NodeOptions & options)
: Node("apriltag_draw", options)
{
Expand All @@ -109,10 +121,10 @@ ApriltagDraw::ApriltagDraw(const rclcpp::NodeOptions & options)
}
};
image_pub_ = image_transport::create_publisher(
this, "image_tags", rmw_qos_profile_default, pub_options);
this, "image_tags", convert_profile(rmw_qos_profile_default), pub_options);
#else
image_pub_ = image_transport::create_publisher(
this, "image_tags", rmw_qos_profile_default);
this, "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 @@ -139,7 +151,7 @@ void ApriltagDraw::subscribe()
image_transport::create_subscription(
this, "image",
std::bind(&ApriltagDraw::imageCallback, this, std::placeholders::_1),
transport_, qos_profile_));
transport_, convert_profile(qos_profile_)));
is_subscribed_ = true;
}

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