add support for lazy subscribers (#272)

ros-perception · Jul 13, 2023 · 4965283 · 4965283
1 parent 843443f
commit 4965283
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Showing 4 changed files with 10 additions and 9 deletions.
diff --git a/image_transport/include/image_transport/camera_publisher.hpp b/image_transport/include/image_transport/camera_publisher.hpp
@@ -71,9 +71,8 @@ class CameraPublisher
   CameraPublisher(
     rclcpp::Node * node,
     const std::string & base_topic,
-    rmw_qos_profile_t custom_qos = rmw_qos_profile_default);
-
-  // TODO(ros2) Restore support for SubscriberStatusCallbacks when available.
+    rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
+    rclcpp::PublisherOptions = rclcpp::PublisherOptions());
 
   /*!
    * \brief Returns the number of subscribers that are currently connected to

diff --git a/image_transport/include/image_transport/image_transport.hpp b/image_transport/include/image_transport/image_transport.hpp
@@ -75,7 +75,8 @@ IMAGE_TRANSPORT_PUBLIC
 CameraPublisher create_camera_publisher(
   rclcpp::Node * node,
   const std::string & base_topic,
-  rmw_qos_profile_t custom_qos = rmw_qos_profile_default);
+  rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
+  rclcpp::PublisherOptions pub_options = rclcpp::PublisherOptions());
 
 /*!
  * \brief Subscribe to a camera, free function version.

diff --git a/image_transport/src/camera_publisher.cpp b/image_transport/src/camera_publisher.cpp
@@ -74,11 +74,11 @@ struct CameraPublisher::Impl
   bool unadvertised_;
 };
 
-// TODO(ros2) Add support for SubscriberStatusCallbacks when rcl/rmw support it.
 CameraPublisher::CameraPublisher(
   rclcpp::Node * node,
   const std::string & base_topic,
-  rmw_qos_profile_t custom_qos)
+  rmw_qos_profile_t custom_qos,
+  rclcpp::PublisherOptions pub_options)
 : impl_(std::make_shared<Impl>(node))
 {
   // Explicitly resolve name here so we compute the correct CameraInfo topic when the
@@ -89,7 +89,7 @@ CameraPublisher::CameraPublisher(
   std::string info_topic = getCameraInfoTopic(image_topic);
 
   auto qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(custom_qos), custom_qos);
-  impl_->image_pub_ = image_transport::create_publisher(node, image_topic, custom_qos);
+  impl_->image_pub_ = image_transport::create_publisher(node, image_topic, custom_qos, pub_options);
   impl_->info_pub_ = node->create_publisher<sensor_msgs::msg::CameraInfo>(info_topic, qos);
 }
 

diff --git a/image_transport/src/image_transport.cpp b/image_transport/src/image_transport.cpp
@@ -79,9 +79,10 @@ Subscriber create_subscription(
 CameraPublisher create_camera_publisher(
   rclcpp::Node * node,
   const std::string & base_topic,
-  rmw_qos_profile_t custom_qos)
+  rmw_qos_profile_t custom_qos,
+  rclcpp::PublisherOptions pub_options)
 {
-  return CameraPublisher(node, base_topic, custom_qos);
+  return CameraPublisher(node, base_topic, custom_qos, pub_options);
 }
 
 CameraSubscriber create_camera_subscription(