Bytetrack_visualizer node

[ZahraBoroujeni]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

As the publishers of the topics do not have any QoS profile, the code craches. It is better to make the systemDefaultQos, what do you think?

    image_sub_.subscribe(this, image_topic, conversion_type, rclcpp::SystemDefaultsQoS().get_rmw_qos_profile());
    rect_sub_.subscribe(this, rect_topic, rclcpp::SystemDefaultsQoS().get_rmw_qos_profile());
    uuid_sub_.subscribe(this, uuid_topic, rclcpp::SystemDefaultsQoS().get_rmw_qos_profile());

Expected behavior

Create a Subscriber.

Actual behavior

Can not make a subscriber, and make an error

>>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[bytetrack_visualizer_node_exe-1] This error state is being overwritten:
[bytetrack_visualizer_node_exe-1] 
[bytetrack_visualizer_node_exe-1]   'Unknown QoS history policy, at ./src/qos.cpp:61'
[bytetrack_visualizer_node_exe-1] 
[bytetrack_visualizer_node_exe-1] with this new error message:
[bytetrack_visualizer_node_exe-1] 
[bytetrack_visualizer_node_exe-1]   'create_publisher() failed setting topic QoS, at ./src/subscription.cpp:221'
[bytetrack_visualizer_node_exe-1] 
[bytetrack_visualizer_node_exe-1] rcutils_reset_error() should be called after error handling to avoid this.
[bytetrack_visualizer_node_exe-1] <<<
[bytetrack_visualizer_node_exe-1] 
[bytetrack_visualizer_node_exe-1] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
[bytetrack_visualizer_node_exe-1] This error state is being overwritten:
[bytetrack_visualizer_node_exe-1] 
[bytetrack_visualizer_node_exe-1]   'create_publisher() failed setting topic QoS, at ./src/subscription.cpp:221, at ./src/rcl/subscription.c:109'
[bytetrack_visualizer_node_exe-1] 
[bytetrack_visualizer_node_exe-1] with this new error message:
[bytetrack_visualizer_node_exe-1] 
[bytetrack_visualizer_node_exe-1]   'invalid allocator, at ./src/rcl/subscription.c:219'
[bytetrack_visualizer_node_exe-1] 
[bytetrack_visualizer_node_exe-1] rcutils_reset_error() should be called after error handling to avoid this.
[bytetrack_visualizer_node_exe-1] <<<
[bytetrack_visualizer_node_exe-1] invalid allocator, at ./src/rcl/subscription.c:219

Steps to reproduce

1. Run the bytetrack and bytetrack_visualizer
2. Run a bagfile which the image does not have any profile
3. the visualizer node will crash

Versions

-OS: ubuntu 22.04
-ROS: humble

Possible causes

No response

Additional context

No response

[manato]

@ZahraBoroujeni
Thank you for reporting the issue. To investigate this issue further, is it possible to share a rosbag or sample commands/nodes that publish image data without any QoS profile?
In my understanding, every ROS2 topic has a QoS profile (even if it is not specified explicitly, the default one is adopted I guess), so I'd like to know more in detail about the situation that topic does not have a QoS profile.