implement proper lazy subscribers

ros-drivers / openni2_camera

ROS wrapper for openni 2.0

http://wiki.ros.org/openni2_camera

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

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implement proper lazy subscribers #119

Closed mikeferguson closed 5 months ago

mikeferguson commented 1 year ago

This is blocked by upstream work that should be included in Iron turtle - https://github.com/ros2/rmw/issues/330#issuecomment-1430800196

mikeferguson commented 1 year ago

Started on this - it is an epic rabbit hole:

We need to update image_proc/depth_proc to make this work (they aren't lazy, and they subscribe to our outputs)
That means we need to update image_transport (which most of the image_proc subscribers use)
That might also lead to changing things in message_filters, which image_transport uses (but so far, maybe not).

mikeferguson commented 1 year ago

Work in Progress:

https://github.com/ros-perception/image_common/pull/272
https://github.com/ros-perception/image_pipeline/pull/815
https://github.com/ros-drivers/openni2_camera/tree/proper_lazy_subs (will open a PR here once the image_common stuff is merged & released, since that is very much required)

mikeferguson commented 1 year ago

As a note - this will NOT make it into Iron, since we can't get the image_common changes merged into Iron (apparently that package is part of the base and was frozen on April 17). I will continue to get this merged into rolling, but it won't make into a regular release until 2024

mikeferguson commented 5 months ago

image_pipeline is now updated - but not yet released