Jazzy: Follow REP-2003 and allow overrides

mikeferguson commented 7 months ago

All publishers should be SystemDefaultQOS with allowable overrides
All subscribers should be SensorDataQOS with allowable overrides

Notes on overrides: https://docs.ros.org/en/iron/How-To-Guides/Overriding-QoS-Policies-For-Recording-And-Playback.html

From point_cloud_node:

auto sub_opts = rclcpp::SubscriptionOptions();
sub_opts.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();

[x] image_save should subscribe with SensorDataQOS (https://github.com/ros-perception/image_pipeline/issues/828)
[x] image_proc
[x] stereo_image_proc
[x] depth_image_proc
[x] image_view
[x] Add tutorial to image_pipeline tutorials on how to use QoS (link to design doc above also)

tcappellari-bdai commented 4 months ago

Is this still being worked on? We are having issues with these nodes as the QoS for subscribers are not sensor defaults

mikeferguson commented 1 month ago

I finally got around to finishing this work - PR is here: https://github.com/ros-perception/image_pipeline/pull/1019

There are a few nodes/components that are not updated due to API limitations in message_filters and/or image_transport - I'll file a separate ticket with those nodes listed and what upstream API stuff we should be pushing for K-turtle

mikeferguson commented 2 weeks ago

Merged into both Jazzy and Rolling - I'll cut a new release shortly

ros-perception / image_pipeline

Jazzy: Follow REP-2003 and allow overrides #847