ros-perception / image_transport_plugins

A set of plugins for publishing and subscribing to sensor_msgs/Image topics in representations other than raw pixel data.

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

55 stars 120 forks source link

[rolling] reconfigurable transport scoped parameters for CompressedSubscriber #144

Closed bmegli closed 1 year ago

bmegli commented 1 year ago

CompressedSubscriber

140 like
108 like

108 is simply reading mode before image decoding

Some CompressedPublisher cleanup to have common structure

In the screenshot:

camera driver (publisher)
rqt_image_view (subscriber)
- in CLI deprecation warnings visible
rqt_reconfigure (parameters)
- dynamically changing through deprecated and new parameter

Design Decisions

Constant parameter table thrown back to compressed_publisher.cpp and compressed_subscriber.cpp

having those in separate files would be overkill - e.g. subscriber has 1 parameter

I decided not to overthink this too much.

After deprecated parameters are removed in the future the only thing left will be constant table with definitions.

ijnek commented 1 year ago

Considering the duplicated code between publisher and subscriber is going to be removed after deprecated parameter are removed in the future, these changes look good. Thanks!