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start-jsk / rtmros_tutorials

Tutorials for rtmros packages
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[hironx_tutorial][HIRONXJSK] Enable to subscribe all compressedDepth without hz drop #617

Closed pazeshun closed 1 year ago

pazeshun commented 1 year ago

Previously, only /head_camera/depth/image_raw/compressedDepth can be subscribed without hz drop for rosbag record, but nodes on remote PC may want to subscribe other compressedDepth topics. The implementation is based on https://github.com/jsk-ros-pkg/jsk_robot/pull/1493

cc. @Affonso-Gui

Affonso-Gui commented 1 year ago

Have been testing this for the last day and works perfectly. (I am decompressing the /head_camera/depth_registered/sw_registered/image_rect/compressedDepth topic locally for my recognition pipeline, and until now have been forced to manually set the png_level to 1 after every startup)