Lazy Publishing Humble - Githubissues

luxonis / depthai-ros

Official ROS Driver for DepthAI Sensors.

MIT License

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Lazy Publishing Humble #381

Closed Serafadam closed 10 months ago

Serafadam commented 10 months ago

Overview

Author: @Serafadam

Issue

Issue link (if present): https://github.com/luxonis/depthai-ros/issues/189 Issue description: Add lazy publishing setters to BridgePublisher and depthai_ros_driver Related PRs

Changes

ROS distro: Humble List of changes:

Added a parameter to BridgePublisher that enables lazy publishing
Added parameters to depthai_ros_driver that allow turning lazy publishing on/off
Added few helper methods in ImageConverter to simplify image callbacks

Testing

Hardware used: OAK-D-PRO Depthai library version: 2.20.0

Visuals from testing

Add screenshots/gifs/videos from RVIZ or other visualizers demonstrating the effect of the changes when applicable.