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[TOC]
image_transport
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ROS image_transport 懒发布机制
没有订阅者不会发布
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void Publisher::publish(const sensor_msgs::msg::Image & message) const
{
if (!impl_ || !impl_->isValid()) {
// TODO(ros2) Switch to RCUTILS_ASSERT when ros2/rcutils#112 is merged
auto logger = impl_ ? impl_->logger_ : rclcpp::get_logger("image_transport");
RCLCPP_FATAL(logger, "Call to publish() on an invalid image_transport::Publisher");
return;
}
for (const auto & pub : impl_->publishers_) {
if (pub->getNumSubscribers() > 0) {
pub->publish(message);
}
}
}
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相机ROS封装
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/ob_camera_waist/color/camera_info
/ob_camera_waist/color/image_raw
/ob_camera_waist/color/image_raw/compressed
/ob_camera_waist/color/image_raw/compressedDepth
/ob_camera_waist/color/image_raw/theora
/ob_camera_waist/color/metadata
/ob_camera_waist/depth/camera_info
/ob_camera_waist/depth/image_raw
/ob_camera_waist/depth/image_raw/compressed
/ob_camera_waist/depth/image_raw/compressedDepth
/ob_camera_waist/depth/image_raw/theora
/ob_camera_waist/depth/metadata
/ob_camera_waist/depth/points
/ob_camera_waist/depth_filter_status
/ob_camera_waist/depth_to_color
/ob_camera_waist/depth_to_left_ir
/ob_camera_waist/depth_to_right_ir
/ob_camera_waist/left_ir/camera_info
/ob_camera_waist/left_ir/image_raw
/ob_camera_waist/left_ir/image_raw/compressed
/ob_camera_waist/left_ir/image_raw/compressedDepth
/ob_camera_waist/left_ir/image_raw/theora
/ob_camera_waist/left_ir/metadata
/ob_camera_waist/right_ir/camera_info
/ob_camera_waist/right_ir/image_raw
/ob_camera_waist/right_ir/image_raw/compressed
/ob_camera_waist/right_ir/image_raw/compressedDepth
/ob_camera_waist/right_ir/image_raw/theora
/ob_camera_waist/right_ir/metadata
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每个子topic /compressed /compressedDepth /theora 不必关注，其是由 ros image_transport 由 主topic 数据 （如 /ob_camera_waist/color/image_raw ） 产生没有订阅不会有相关转化逻辑。
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关注topic 参数
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ros2 param get /camera/camera align_mode
ros2 param set /camera/camera align_mode HW
ros2 param get /ob_camera_back/ob_camera_back align_mode
ros2 param set /ob_camera_back/ob_camera_back align_mode HW
ros2 param set /ob_camera_back/ob_camera_back align_mode SW
ros2 param get /ob_camera_waist/ob_camera_waist align_mode
ros2 param set /ob_camera_waist/ob_camera_waist align_mode HW
ros2 param set /ob_camera_waist/ob_camera_waist align_mode SW
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相机SDK