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[iron] image_publisher: Fix loading of the camera info parameters on startup (backport #983) #997

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merged 2 commits into from
Jun 10, 2024
Merged

[iron] image_publisher: Fix loading of the camera info parameters on startup (backport #983) #997

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[rolling] image_publisher: Fix loading of the camera info parameters …
Kotochleb May 29, 2024
2825f4d
fix merge
mikeferguson Jun 10, 2024
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31 changes: 17 additions & 14 deletions image_publisher/src/image_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -68,43 +68,48 @@ ImagePublisher::ImagePublisher(const rclcpp::NodeOptions & options)
auto param_change_callback =
[this](std::vector<rclcpp::Parameter> parameters) -> rcl_interfaces::msg::SetParametersResult
{
RCLCPP_INFO(get_logger(), "param_change_callback");
bool call_init = false;
bool call_reconfigure = false;

auto result = rcl_interfaces::msg::SetParametersResult();
result.successful = true;
for (auto parameter : parameters) {
if (parameter.get_name() == "filename") {
filename_ = parameter.as_string();
RCLCPP_INFO(get_logger(), "Reset filename as '%s'", filename_.c_str());
ImagePublisher::onInit();
return result;
call_init = true;
} else if (parameter.get_name() == "field_of_view") {
field_of_view_ = parameter.as_double();
RCLCPP_INFO(get_logger(), "Reset field_of_view as '%f'", field_of_view_);
ImagePublisher::onInit();
return result;
call_init = true;
} else if (parameter.get_name() == "flip_horizontal") {
flip_horizontal_ = parameter.as_bool();
RCLCPP_INFO(get_logger(), "Reset flip_horizontal as '%d'", flip_horizontal_);
ImagePublisher::onInit();
return result;
call_init = true;
} else if (parameter.get_name() == "flip_vertical") {
flip_vertical_ = parameter.as_bool();
RCLCPP_INFO(get_logger(), "Reset flip_vertical as '%d'", flip_vertical_);
ImagePublisher::onInit();
return result;
call_init = true;
} else if (parameter.get_name() == "frame_id") {
frame_id_ = parameter.as_string();
RCLCPP_INFO(get_logger(), "Reset frame_id as '%s'", frame_id_.c_str());
} else if (parameter.get_name() == "publish_rate") {
publish_rate_ = parameter.as_double();
RCLCPP_INFO(get_logger(), "Reset publish_rate as '%lf'", publish_rate_);
call_reconfigure = true;
} else if (parameter.get_name() == "camera_info_url") {
camera_info_url_ = parameter.as_string();
RCLCPP_INFO(get_logger(), "Reset camera_info_rul as '%s'", camera_info_url_.c_str());
RCLCPP_INFO(get_logger(), "Reset camera_info_url as '%s'", camera_info_url_.c_str());
call_reconfigure = true;
}
}
ImagePublisher::reconfigureCallback();
// reconfigureCallback() is called within onInit() so there is no need to call it twice
if (call_reconfigure && !call_init) {
ImagePublisher::reconfigureCallback();
} else if (call_init) {
ImagePublisher::onInit();
}

return result;
};
on_set_parameters_callback_handle_ = this->add_on_set_parameters_callback(param_change_callback);
Expand Down Expand Up @@ -234,9 +239,7 @@ void ImagePublisher::onInit()
camera_info_.p = {f_approx, 0, static_cast<float>(camera_info_.width / 2), 0, 0, f_approx,
static_cast<float>(camera_info_.height / 2), 0, 0, 0, 1, 0};

timer_ = this->create_wall_timer(
std::chrono::milliseconds(static_cast<int>(1000 / publish_rate_)),
std::bind(&ImagePublisher::doWork, this));
ImagePublisher::reconfigureCallback();
}

} // namespace image_publisher
Expand Down