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ros-perception / image_common

Common code for working with images in ROS
http://www.ros.org/wiki/image_common
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Opt-in to qos overriding for publisher #246

Closed ihasdapie closed 2 years ago

ihasdapie commented 2 years ago

Opts-in to recently avaliable QOS overriding for image_transport republish since a common use case with this package is working with sensor_data qos.

Signed-off-by: Brian Chen brian.chen@openrobotics.org

gbiggs commented 2 years ago

CI:

wep21 commented 1 year ago

@gbiggs @jacobperron Is it possible to backport this PR to humble? I think this function is crucial to tune throughput.

MarcoMagriDev commented 11 months ago

Is there any reason why the reliability has not been exposed?

I am in the situation in which my publisher has a sensor_data_qos and i would like to set the reliability of the image republisher subscriber to BEST_EFFORT in order to achieve subscribing.

ahcorde commented 11 months ago

@MarcoMagriDev check this PR https://github.com/ros-perception/image_common/pull/288 it might be useful

MarcoMagriDev commented 11 months ago

@ahcorde thanks for your fast reply.

From what I understand from the PR you linked is somewhat of a low-level enabler of the functionality I am requesting. However, to set BEST_EFFORT using the functionality developed by #288 I would have to rewrite the republisher.cpp file (correct me if I am wrong).

On the other hand, by simply add rclcpp::QosPolicyKind::Reliability to the list of QosOverridingOptions it is possibile to specify ` without changing the source code but just working with parameters.