migrate to image_rotate, make lazy

image_rotate/CMakeLists.txt

@@ -24,6 +24,13 @@ ament_auto_add_executable(image_rotate_bin src/image_rotate.cpp)
 set_target_properties(image_rotate_bin PROPERTIES OUTPUT_NAME ${PROJECT_NAME})
 target_link_libraries(image_rotate_bin ${OpenCV_LIBRARIES} ${PROJECT_NAME})
 
+ament_auto_add_library(image_flip SHARED src/image_flip.cpp)
+target_link_libraries(image_flip ${OpenCV_LIBRARIES})
+rclcpp_components_register_node(image_flip
+  PLUGIN "${PROJECT_NAME}::ImageFlipNode"
+  EXECUTABLE image_flip_node
+)
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()

image_flip/include/image_flip/image_flip_node.hpp → image_rotate/include/image_rotate/image_flip.hpp

@@ -30,8 +30,9 @@
 // LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 // ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // POSSIBILITY OF SUCH DAMAGE.
-#ifndef IMAGE_FLIP__IMAGE_FLIP_NODE_HPP_
-#define IMAGE_FLIP__IMAGE_FLIP_NODE_HPP_
+
+#ifndef IMAGE_ROTATE__IMAGE_FLIP_HPP_
+#define IMAGE_ROTATE__IMAGE_FLIP_HPP_
 
 #include <math.h>
 
@@ -47,24 +48,22 @@
 #include <rclcpp/rclcpp.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
-#include "image_flip/visibility.h"
+#include "image_rotate/visibility.h"
 
-namespace image_flip
+namespace image_rotate
 {
 
 struct ImageFlipConfig
 {
   std::string output_frame_id;
   int rotation_steps;
   bool use_camera_info;
-  rmw_qos_profile_t input_qos;  // "default", "sensor_data", etc ..
-  rmw_qos_profile_t output_qos;
 };
 
 class ImageFlipNode : public rclcpp::Node
 {
 public:
-  IMAGE_FLIP_PUBLIC ImageFlipNode(rclcpp::NodeOptions options);
+  IMAGE_ROTATE_PUBLIC ImageFlipNode(rclcpp::NodeOptions options);
 
 private:
   const std::string frameWithDefault(const std::string & frame, const std::string & image_frame);
@@ -76,10 +75,6 @@ class ImageFlipNode : public rclcpp::Node
     const sensor_msgs::msg::Image::ConstSharedPtr & msg,
     const sensor_msgs::msg::CameraInfo::ConstSharedPtr & cam_info,
     const std::string input_frame_from_msg);
-  void subscribe();
-  void unsubscribe();
-  void connectCb();
-  void disconnectCb();
   void onInit();
 
   rclcpp::Node::OnSetParametersCallbackHandle::SharedPtr on_set_parameters_callback_handle_;
@@ -89,18 +84,20 @@ class ImageFlipNode : public rclcpp::Node
   std::shared_ptr<tf2_ros::StaticTransformBroadcaster> tf_pub_;
   bool tf_unpublished_;
 
-  image_flip::ImageFlipConfig config_;
+  ImageFlipConfig config_;
 
-  image_transport::Publisher img_pub_;
+  // Subscriber - only one is used at a time - depends on use_camera_info
   image_transport::Subscriber img_sub_;
   image_transport::CameraSubscriber cam_sub_;
+
+  // Publisher - only one is used at a time - depends on use_camera_info
+  image_transport::Publisher img_pub_;
   image_transport::CameraPublisher cam_pub_;
 
-  int subscriber_count_;
   double angle_;
   tf2::TimePoint prev_stamp_;
   geometry_msgs::msg::TransformStamped transform_;
 };
-}  // namespace image_flip
+}  // namespace image_rotate
 
-#endif  // IMAGE_FLIP__IMAGE_FLIP_NODE_HPP_
+#endif  // IMAGE_ROTATE__IMAGE_FLIP_HPP_

image_rotate/include/image_rotate/image_rotate_node.hpp

@@ -93,13 +93,14 @@ class ImageRotateNode : public rclcpp::Node
   image_rotate::ImageRotateConfig config_;
 
   image_transport::Publisher img_pub_;
+
+  // Subscriber - only one is used at a time - depends on use_camera_info
   image_transport::Subscriber img_sub_;
   image_transport::CameraSubscriber cam_sub_;
 
   geometry_msgs::msg::Vector3Stamped target_vector_;
   geometry_msgs::msg::Vector3Stamped source_vector_;
 
-  int subscriber_count_;
   double angle_;
   tf2::TimePoint prev_stamp_;
 };

image_flip/launch/image_flip.launch.py → image_rotate/launch/image_flip.launch.py

@@ -32,32 +32,19 @@
 
 """Demonstration of basic launch of the image_flip_node with remappings."""
 
-import launch_ros.actions
 from launch import LaunchDescription
+import launch_ros.actions
 
 
 def generate_launch_description():
-    """
-    Launch description for basic launch of the image_flip_node.
-
-    Launch description for basic launch of the image_flip_node,
-    which includes parameters and topic remappings.
-    """
+    """Launch description for basic launch of the image_flip."""
     return LaunchDescription([
         launch_ros.actions.Node(
-            package='image_flip', executable='image_flip_node',
+            package='image_rotate', executable='image_flip',
             output='screen', name='camera_flip',
-            remappings=[("image",                'camera/rgb/image_raw'),
-                        ('camera_info',          'camera/rgb/camera_info'),
-                        ('rotated/image',        'camera_rotated/image_rotated'),
-                        ('rotated/camera_info',  'camera_rotated/camera_info'),
-                        ('rotated/image/compressed',
-                            'camera_rotated/image_rotated/compressed'),
-                        ('rotated/image/compressedDepth',
-                            'camera_rotated/image_rotated/compressedDepth'),
-                        ('rotated/image/theora',
-                            'camera_rotated/image_rotated/theora')],
-            parameters=[{'output_frame_id': "camera_rotated",
+            remappings=[('image',                'camera/rgb/image_raw'),
+                        ('rotated/image',        'camera_rotated/image_rotated')],
+            parameters=[{'output_frame_id': 'camera_rotated',
                          'rotation_steps': 2,
                          'use_camera_info': True,
                          'input_qos': 'best_effort',

image_rotate/package.xml

@@ -34,6 +34,7 @@
   <url type="bugtracker">https://github.com/ros-perception/image_pipeline/issues</url>
   <url type="repository">https://github.com/ros-perception/image_pipeline</url>
   <author>Blaise Gassend</author>
+  <author email="[email protected]">David Conner</author>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>