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Migrate to using cv_bridge type adapter #584

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Migrate to using cv_bridge type adapter #584

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3 changes: 2 additions & 1 deletion image_tools/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -17,11 +17,11 @@ find_package(rclcpp_components REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(OpenCV REQUIRED COMPONENTS core highgui imgcodecs imgproc videoio)
find_package(cv_bridge REQUIRED)

add_library(${PROJECT_NAME} SHARED
src/burger.cpp
src/cam2image.cpp
src/cv_mat_sensor_msgs_image_type_adapter.cpp
src/showimage.cpp
)
target_compile_definitions(${PROJECT_NAME}
Expand All @@ -34,6 +34,7 @@ target_link_libraries(${PROJECT_NAME}
${sensor_msgs_TARGETS}
${std_msgs_TARGETS}
rclcpp_components::component
cv_bridge::cv_bridge
${OpenCV_LIBS})
rclcpp_components_register_node(${PROJECT_NAME} PLUGIN "image_tools::Cam2Image" EXECUTABLE cam2image)
rclcpp_components_register_node(${PROJECT_NAME} PLUGIN "image_tools::ShowImage" EXECUTABLE showimage)
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272 changes: 0 additions & 272 deletions image_tools/include/image_tools/cv_mat_sensor_msgs_image_type_adapter.hpp
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This file was deleted.

2 changes: 2 additions & 0 deletions image_tools/package.xml
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Expand Up @@ -14,12 +14,14 @@
<author email="[email protected]">Mabel Zhang</author>

<buildtool_depend>ament_cmake</buildtool_depend>
<build_depend>cv_bridge</build_depend>
<build_depend>libopencv-dev</build_depend>
<build_depend>rclcpp</build_depend>
<build_depend>rclcpp_components</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>std_msgs</build_depend>

<exec_depend>cv_bridge</exec_depend>
<exec_depend>libopencv-dev</exec_depend>
<exec_depend>rclcpp</exec_depend>
<exec_depend>rclcpp_components</exec_depend>
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10 changes: 5 additions & 5 deletions image_tools/src/cam2image.cpp
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Expand Up @@ -24,19 +24,19 @@
#include "opencv2/highgui.hpp"
#include "opencv2/videoio.hpp"

#include "cv_bridge/cv_mat_sensor_msgs_image_type_adapter.hpp"
#include "rcl_interfaces/msg/parameter_descriptor.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_components/register_node_macro.hpp"
#include "std_msgs/msg/bool.hpp"

#include "image_tools/cv_mat_sensor_msgs_image_type_adapter.hpp"
#include "image_tools/visibility_control.h"

#include "./burger.hpp"
#include "./policy_maps.hpp"

RCLCPP_USING_CUSTOM_TYPE_AS_ROS_MESSAGE_TYPE(
image_tools::ROSCvMatContainer,
cv_bridge::ROSCvMatContainer,
sensor_msgs::msg::Image);

namespace image_tools
Expand Down Expand Up @@ -81,7 +81,7 @@ class Cam2Image : public rclcpp::Node
// ensure that every message gets received in order, or best effort, meaning that the transport
// makes no guarantees about the order or reliability of delivery.
qos.reliability(reliability_policy_);
pub_ = create_publisher<image_tools::ROSCvMatContainer>("image", qos);
pub_ = create_publisher<cv_bridge::ROSCvMatContainer>("image", qos);

// Subscribe to a message that will toggle flipping or not flipping, and manage the state in a
// callback
Expand Down Expand Up @@ -148,7 +148,7 @@ class Cam2Image : public rclcpp::Node
std_msgs::msg::Header header;
header.frame_id = frame_id_;
header.stamp = this->now();
image_tools::ROSCvMatContainer container(frame, header);
cv_bridge::ROSCvMatContainer container(frame, header);

// Publish the image message and increment the publish_number_.
RCLCPP_INFO(get_logger(), "Publishing image #%zd", publish_number_++);
Expand Down Expand Up @@ -255,7 +255,7 @@ class Cam2Image : public rclcpp::Node
burger::Burger burger_cap;

rclcpp::Subscription<std_msgs::msg::Bool>::SharedPtr sub_;
rclcpp::Publisher<image_tools::ROSCvMatContainer>::SharedPtr pub_;
rclcpp::Publisher<cv_bridge::ROSCvMatContainer>::SharedPtr pub_;
rclcpp::TimerBase::SharedPtr timer_;

// ROS parameters
Expand Down
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