We would like to create a node for republishing image data which uses a Quality Service setting of Best Effort rather than Reliable. Ideally this will help with latency issues when subscribing to the image over wifi.
This node should be created in virtuoso_sensors and should be instantiated in the camera.launch.py. Each instantiation of the node should subscribe to a corresponding camera topic and republish the data to a new topic. The f9p_gps_republish.py node is a good reference for setting QoS parameters in a publisher.
We would like to create a node for republishing image data which uses a Quality Service setting of Best Effort rather than Reliable. Ideally this will help with latency issues when subscribing to the image over wifi. This node should be created in
virtuoso_sensorsand should be instantiated in thecamera.launch.py. Each instantiation of the node should subscribe to a corresponding camera topic and republish the data to a new topic. Thef9p_gps_republish.pynode is a good reference for setting QoS parameters in a publisher.