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Fix QoS setting to allow IPC #76

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Fix QoS setting to allow IPC #76

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8ab6e50
Fix QoS setting to allow IPC
Myzhar Dec 8, 2023
3d828d9
Fix linting
Myzhar Dec 8, 2023
88a7f25
Fix Linting
Myzhar Dec 8, 2023
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17 changes: 13 additions & 4 deletions src/DepthImageToLaserScanROS.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,22 +45,31 @@
namespace depthimage_to_laserscan
{

const int QOS_QUEUE_SIZE = 10;

DepthImageToLaserScanROS::DepthImageToLaserScanROS(const rclcpp::NodeOptions & options)
: rclcpp::Node("depthimage_to_laserscan", options)
{
auto qos = rclcpp::SystemDefaultsQoS();
rclcpp::QoS qos(QOS_QUEUE_SIZE);

auto pub_opt = rclcpp::PublisherOptions();
pub_opt.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();

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

cam_info_sub_ = this->create_subscription<sensor_msgs::msg::CameraInfo>(
"depth_camera_info", qos,
std::bind(
&DepthImageToLaserScanROS::infoCb, this,
std::placeholders::_1));
std::placeholders::_1), sub_opt);

depth_image_sub_ =
this->create_subscription<sensor_msgs::msg::Image>(
"depth", qos,
std::bind(&DepthImageToLaserScanROS::depthCb, this, std::placeholders::_1));
std::bind(&DepthImageToLaserScanROS::depthCb, this, std::placeholders::_1), sub_opt);

scan_pub_ = this->create_publisher<sensor_msgs::msg::LaserScan>("scan", qos);
scan_pub_ = this->create_publisher<sensor_msgs::msg::LaserScan>("scan", qos, pub_opt);

float scan_time = this->declare_parameter("scan_time", 0.033);

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