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fictionlab / ros_aruco_opencv

ROS wrapper for ArUco Opencv module
MIT License
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Add an option to subscribe to compressed image topics. (backport #28) #30

Closed mergify[bot] closed 8 months ago

mergify[bot] commented 8 months ago

I have added a new parameter called image_sub_compressed: false. When enabled, aruco_tracker will subscribe to cam_base_topic/compressed instead of cam_base_topic.

This modification is a workaround, because normally, image compression is handled by setting image_transport::TransportHints. However we are unable to use image_transport with lifecycle nodes.

Enabling this feature makes aruco_tracker work much faster and allows us to successfully use it with a multi-camera setup.

This is an automatic backport of pull request #28 done by Mergify.