Publish static transforms when intra porocess communication is enabled #2381
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Thanks so much @Yadunund for your contribution to the ROS2 wrapper! :) |
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@MartyG-RealSense I'm unfamiliar with the review process for this repo. Do I need to assign a reviewer? |
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Hi @Yadunund No, you don't need to assign a reviewer as the RealSense development team does that. Thanks very much for your patience! |
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Gotcha, thank for the heads up 😄 |
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Could you split the functional and the white space changes? This would make it easier to backport/cherry-pick the actual fix into other branches. |
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Thats a great solution! |
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Sure! Will get to doing so in a bit. |
Yadunund
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@christian-rauch @Nir-Az hope the diff is suitable now! |
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Sorry for an extra commit after CI started. I tried to save one extra copy from happening 😅 |
NP, did you manage to verify that the intra process functionality still works for images using our latency tool? |
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I think "Rebase" is not a good commit message. Can you restore the original message or write a new one that reflects the actual change, e.g. "publish static transformations for intra-process communication" or something along that line? |
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I would also suggest squashing those two commits together as they are changing the same line twice. |
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According to the CI results The API was changed since |
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Apart from If so I think I can get |
Thanks,
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Since librealsense SDK supports Ubuntu 18, we will to allow Appreciate it. |
Yadunund
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Signed-off-by: Yadunund <[email protected]>
Yadunund
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I've updated the PR to try to accommodate dashing too. I don't have access to an 18.04 + dashing setup so I have not tried it out. I tried to match the default arg for QoS as seen in the dashing API I've also squashed the commits to just one as requested. Lastly verified intra-process by running the latency tool |
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Great! thanks a lot! |
Nir-Az
approved these changes
Jan 17, 2023
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Thanks for the review! |
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Hi @MartyG-RealSense ,
In the existing implementation of the ROS 2 driver, if users enable
intra_process_communication, the driver will not publish static tf transforms due to this conditionHowever there is really no need to sacrifice static tf publishing at the expense on enabling
intra_process_communicationasrclcppis smart enough to selectively disable the intra process publishing mechanism for publishers (or subscribers) by suitably overwriting thePublisherOptionsfor a given publisher.This PR enables users to benefit from both
intra_process_comminicationas well as static tf transforms published by this driver. It short, it overcomes thestatic_tflimitation described in the README here 😄It has been tested on
foxyandgalacticonUbuntu 20.04with aD455camera.Once you rebuild the package, and load the driver component into a component container with
use_intra_process_comms:=True, you should still be able toros2 topic echo /tf_static --qos-reliability reliable --qos-durability transient_localto see the static transforms.Signed-off-by: Yadunund [email protected]