Merge branch 'rolling' into ahcorde/fix/paremeters/when_using_component

camera_calibration/package.xml

@@ -11,6 +11,7 @@
   <maintainer email="[email protected]">Vincent Rabaud</maintainer>
   <maintainer email="[email protected]">Joshua Whitley</maintainer>
   <maintainer email="[email protected]">Jacob Perron</maintainer>
+  <maintainer email="[email protected]">Michael Ferguson</maintainer>
 
   <license>BSD</license>
   <url type="website">https://index.ros.org/p/camera_calibration/github-ros-perception-image_pipeline/</url>

depth_image_proc/package.xml

@@ -16,6 +16,7 @@
   <maintainer email="[email protected]">Joshua Whitley</maintainer>
   <maintainer email="[email protected]">Chris Ye</maintainer>
   <maintainer email="[email protected]">Jacob Perron</maintainer>
+  <maintainer email="[email protected]">Michael Ferguson</maintainer>
 
   <license>BSD</license>
   <url type="website">https://index.ros.org/p/depth_image_proc/github-ros-perception-image_pipeline/</url>

depth_image_proc/src/point_cloud_xyzrgb.cpp

@@ -109,12 +109,27 @@ void PointCloudXyzrgbNode::connectCb()
     std::string depth_image_transport_param = "depth_image_transport";
     image_transport::TransportHints depth_hints(this, "raw", depth_image_transport_param);
 
+    rclcpp::SubscriptionOptions sub_opts;
+    // Update the subscription options to allow reconfigurable qos settings.
+    sub_opts.qos_overriding_options = rclcpp::QosOverridingOptions {
+      {
+        // Here all policies that are desired to be reconfigurable are listed.
+        rclcpp::QosPolicyKind::Depth,
+        rclcpp::QosPolicyKind::Durability,
+        rclcpp::QosPolicyKind::History,
+        rclcpp::QosPolicyKind::Reliability,
+      }};
+
     // depth image can use different transport.(e.g. compressedDepth)
-    sub_depth_.subscribe(this, "depth_registered/image_rect", depth_hints.getTransport());
+    sub_depth_.subscribe(
+      this, "depth_registered/image_rect",
+      depth_hints.getTransport(), rmw_qos_profile_default, sub_opts);
 
     // rgb uses normal ros transport hints.
     image_transport::TransportHints hints(this, "raw");
-    sub_rgb_.subscribe(this, "rgb/image_rect_color", hints.getTransport());
+    sub_rgb_.subscribe(
+      this, "rgb/image_rect_color",
+      hints.getTransport(), rmw_qos_profile_default, sub_opts);
     sub_info_.subscribe(this, "rgb/camera_info");
   }
 }

image_pipeline/package.xml

@@ -8,6 +8,7 @@
   <maintainer email="[email protected]">Vincent Rabaud</maintainer>
   <maintainer email="[email protected]">Joshua Whitley</maintainer>
   <maintainer email="[email protected]">Jacob Perron</maintainer>
+  <maintainer email="[email protected]">Michael Ferguson</maintainer>
 
   <license>BSD</license>
   <url type="website">https://index.ros.org/p/image_pipeline/github-ros-perception-image_pipeline/</url>

image_proc/package.xml

@@ -8,6 +8,7 @@
   <maintainer email="[email protected]">Vincent Rabaud</maintainer>
   <maintainer email="[email protected]">Joshua Whitley</maintainer>
   <maintainer email="[email protected]">Jacob Perron</maintainer>
+  <maintainer email="[email protected]">Michael Ferguson</maintainer>
 
   <license>BSD</license>
   <url type="website">https://index.ros.org/p/image_proc/github-ros-perception-image_pipeline/</url>

image_publisher/package.xml

@@ -14,6 +14,7 @@
   <maintainer email="[email protected]">Joshua Whitley</maintainer>
   <maintainer email="[email protected]">Chris Ye</maintainer>
   <maintainer email="[email protected]">Jacob Perron</maintainer>
+  <maintainer email="[email protected]">Michael Ferguson</maintainer>
 
   <license>BSD</license>
   <url type="website">https://index.ros.org/p/image_publisher/github-ros-perception-image_pipeline/</url>

image_rotate/package.xml

@@ -27,6 +27,7 @@
   <maintainer email="[email protected]">Vincent Rabaud</maintainer>
   <maintainer email="[email protected]">Joshua Whitley</maintainer>
   <maintainer email="[email protected]">Jacob Perron</maintainer>
+  <maintainer email="[email protected]">Michael Ferguson</maintainer>
 
   <license>BSD</license>
   <url type="website">https://index.ros.org/p/image_rotate/github-ros-perception-image_pipeline/</url>

image_view/package.xml

@@ -11,6 +11,7 @@
   <maintainer email="[email protected]">Vincent Rabaud</maintainer>
   <maintainer email="[email protected]">Joshua Whitley</maintainer>
   <maintainer email="[email protected]">Jacob Perron</maintainer>
+  <maintainer email="[email protected]">Michael Ferguson</maintainer>
 
   <license>BSD</license>
   <url type="website">https://index.ros.org/p/image_view/github-ros-perception-image_pipeline/</url>

stereo_image_proc/package.xml

@@ -8,6 +8,7 @@
   <maintainer email="[email protected]">Vincent Rabaud</maintainer>
   <maintainer email="[email protected]">Joshua Whitley</maintainer>
   <maintainer email="[email protected]">Jacob Perron</maintainer>
+  <maintainer email="[email protected]">Michael Ferguson</maintainer>
 
   <license>BSD</license>
   <url type="website">https://index.ros.org/p/stereo_image_proc/github-ros-perception-image_pipeline/</url>

stereo_image_proc/src/stereo_image_proc/disparity_node.cpp

@@ -166,7 +166,7 @@ DisparityNode::DisparityNode(const rclcpp::NodeOptions & options)
   // Declare/read parameters
   int queue_size = this->declare_parameter("queue_size", 5);
   bool approx = this->declare_parameter("approximate_sync", false);
-  bool approx_sync_epsilon = this->declare_parameter("approximate_sync_tolerance_seconds", 0.0);
+  double approx_sync_epsilon = this->declare_parameter("approximate_sync_tolerance_seconds", 0.0);
   this->declare_parameter("use_system_default_qos", false);
 
   // Synchronize callbacks

stereo_image_proc/src/stereo_image_proc/point_cloud_node.cpp

@@ -110,7 +110,7 @@ PointCloudNode::PointCloudNode(const rclcpp::NodeOptions & options)
   // Declare/read parameters
   int queue_size = this->declare_parameter("queue_size", 5);
   bool approx = this->declare_parameter("approximate_sync", false);
-  bool approx_sync_epsilon = this->declare_parameter("approximate_sync_tolerance_seconds", 0.0);
+  double approx_sync_epsilon = this->declare_parameter("approximate_sync_tolerance_seconds", 0.0);
   this->declare_parameter("use_system_default_qos", false);
   rcl_interfaces::msg::ParameterDescriptor descriptor;
   // TODO(ivanpauno): Confirm if using point cloud padding in `sensor_msgs::msg::PointCloud2`

tracetools_image_pipeline/package.xml

@@ -7,10 +7,10 @@
     LTTng tracing provider wrapper for image_pipeline ROS 2 meta-package.
   </description>
   <maintainer email="[email protected]">Víctor Mayoral-Vilches</maintainer>
+  <maintainer email="[email protected]">Michael Ferguson</maintainer>
   <license>Apache 2.0</license>
   <author email="[email protected]">Víctor Mayoral-Vilches</author>
 
-
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
   <buildtool_depend>pkg-config</buildtool_depend>