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Subscribe camera topic on demand #202

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100 changes: 87 additions & 13 deletions aruco_detect/src/aruco_detect.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -80,6 +80,7 @@ class FiducialsNode {
// if set, we publish the images that contain fiducials
bool publish_images;
bool enable_detections;
bool subscribe_topics;

double fiducial_len;

Expand Down Expand Up @@ -118,6 +119,12 @@ class FiducialsNode {
bool enableDetectionsCallback(std_srvs::SetBool::Request &req,
std_srvs::SetBool::Response &res);

void subscribe();
void unsubscribe();
void subscriberConnectionCallback(const ros::SingleSubscriberPublisher &ssp);
void imageSubscriberConnectionCallback(const image_transport::SingleSubscriberPublisher &ssp);
void subscriberConnectionCallback();

dynamic_reconfigure::Server<aruco_detect::DetectorParamsConfig> configServer;
dynamic_reconfigure::Server<aruco_detect::DetectorParamsConfig>::CallbackType callbackType;

Expand Down Expand Up @@ -313,10 +320,6 @@ void FiducialsNode::camInfoCallback(const sensor_msgs::CameraInfo::ConstPtr& msg
}

void FiducialsNode::imageCallback(const sensor_msgs::ImageConstPtr & msg) {
if (enable_detections == false) {
return; //return without doing anything
}

ROS_INFO("Got image %d", msg->header.seq);
frameNum++;

Expand Down Expand Up @@ -476,6 +479,22 @@ bool FiducialsNode::enableDetectionsCallback(std_srvs::SetBool::Request &req,
std_srvs::SetBool::Response &res)
{
enable_detections = req.data;

if (enable_detections)
{
if (vertices_pub->getNumSubscribers() > 0 ||
pose_pub->getNumSubscribers() > 0 ||
image_pub.getNumSubscribers() > 0)
{
subscribe();
}
}
else
{
unsubscribe();
}


if (enable_detections){
res.message = "Enabled aruco detections.";
ROS_INFO("Enabled aruco detections.");
Expand All @@ -489,6 +508,59 @@ bool FiducialsNode::enableDetectionsCallback(std_srvs::SetBool::Request &req,
return true;
}

void FiducialsNode::subscriberConnectionCallback(const ros::SingleSubscriberPublisher &ssp)
{
subscriberConnectionCallback();
}

void FiducialsNode::imageSubscriberConnectionCallback(
const image_transport::SingleSubscriberPublisher &ssp)
{
subscriberConnectionCallback();
}

void FiducialsNode::subscriberConnectionCallback()
{
if (!enable_detections) return;
if (vertices_pub->getNumSubscribers() > 0 ||
pose_pub->getNumSubscribers() > 0 ||
image_pub.getNumSubscribers() > 0)
{
subscribe();
}
else if (vertices_pub->getNumSubscribers() == 0 &&
pose_pub->getNumSubscribers() == 0 &&
image_pub.getNumSubscribers() == 0)
{
unsubscribe();
}
}

void FiducialsNode::subscribe()
{
if (!subscribe_topics)
{
subscribe_topics = true;

img_sub = it.subscribe("camera", 1,
&FiducialsNode::imageCallback, this);
caminfo_sub = nh.subscribe("camera_info", 1,
&FiducialsNode::camInfoCallback, this);
ROS_INFO("subscribed camera/camera_info topics");
}
}

void FiducialsNode::unsubscribe()
{
if (subscribe_topics)
{
subscribe_topics = false;

img_sub.shutdown();
caminfo_sub.shutdown();
ROS_INFO("unsubscribed camera/camera_info topics");
}
}

FiducialsNode::FiducialsNode() : nh(), pnh("~"), it(nh)
{
Expand All @@ -502,6 +574,7 @@ FiducialsNode::FiducialsNode() : nh(), pnh("~"), it(nh)

haveCamInfo = false;
enable_detections = true;
subscribe_topics = false;

int dicno;

Expand Down Expand Up @@ -557,19 +630,20 @@ FiducialsNode::FiducialsNode() : nh(), pnh("~"), it(nh)
}
}

image_pub = it.advertise("/fiducial_images", 1);
image_transport::SubscriberStatusCallback it_conn_cb = boost::bind(
&FiducialsNode::imageSubscriberConnectionCallback, this, _1);
ros::SubscriberStatusCallback conn_cb = boost::bind(&FiducialsNode::subscriberConnectionCallback,
this, _1);
image_pub = it.advertise("/fiducial_images", 1, it_conn_cb, it_conn_cb);

vertices_pub = new ros::Publisher(nh.advertise<fiducial_msgs::FiducialArray>("fiducial_vertices", 1));

pose_pub = new ros::Publisher(nh.advertise<fiducial_msgs::FiducialTransformArray>("fiducial_transforms", 1));
vertices_pub = new ros::Publisher(nh.advertise<fiducial_msgs::FiducialArray>(
"fiducial_vertices", 1, conn_cb, conn_cb));

dictionary = aruco::getPredefinedDictionary(dicno);

img_sub = it.subscribe("camera", 1,
&FiducialsNode::imageCallback, this);
pose_pub = new ros::Publisher(nh.advertise<fiducial_msgs::FiducialTransformArray>(
"fiducial_transforms", 1, conn_cb, conn_cb));

caminfo_sub = nh.subscribe("camera_info", 1,
&FiducialsNode::camInfoCallback, this);
dictionary = aruco::getPredefinedDictionary(dicno);

ignore_sub = nh.subscribe("ignore_fiducials", 1,
&FiducialsNode::ignoreCallback, this);
Expand Down