Subscribe camera topic on demand

UbiquityRobotics / fiducials

Simultaneous localization and mapping using fiducial markers.

BSD 3-Clause "New" or "Revised" License

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Subscribe camera topic on demand #202

Open furushchev opened 4 years ago

furushchev commented 4 years ago

By applying this PR, the aruco_detect node subscribes camera topic only when the processed data (i.e. pose/images of detected markers) are subscribed, which saves computation resources during the data is not necessary for other nodes.