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rename depth/image_raw to depth_raw/image #140

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merged 1 commit into from
Aug 10, 2024
Merged

rename depth/image_raw to depth_raw/image #140

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6 changes: 1 addition & 5 deletions openni2_camera/src/openni2_driver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -194,7 +194,7 @@ void OpenNI2Driver::advertiseROSTopics()
};
rmw_qos_profile_t custom_qos = rmw_qos_profile_default;
custom_qos.depth = 1;
pub_depth_raw_ = image_transport::create_camera_publisher(this, "depth/image_raw", custom_qos, pub_options);
pub_depth_raw_ = image_transport::create_camera_publisher(this, "depth_raw/image", custom_qos, pub_options);
pub_depth_ = image_transport::create_camera_publisher(this, "depth/image", custom_qos, pub_options);
pub_projector_info_ = this->create_publisher<sensor_msgs::msg::CameraInfo>("projector/camera_info", 1);
}
Expand Down Expand Up @@ -398,7 +398,6 @@ void OpenNI2Driver::colorConnectCb()
}
std::lock_guard<std::mutex> lock(connect_mutex_);

// This does not appear to work
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these comments were left over and should have been removed when lazy subscribers were implemented

color_subscribers_ = pub_color_.getNumSubscribers() > 0;

if (color_subscribers_ && !device_->isColorStreamStarted())
Expand Down Expand Up @@ -451,7 +450,6 @@ void OpenNI2Driver::depthConnectCb()
}
std::lock_guard<std::mutex> lock(connect_mutex_);

// These does not appear to work
depth_subscribers_ = pub_depth_.getNumSubscribers() > 0;
depth_raw_subscribers_ = pub_depth_raw_.getNumSubscribers() > 0;
projector_info_subscribers_ = pub_projector_info_->get_subscription_count() > 0;
Expand Down Expand Up @@ -481,8 +479,6 @@ void OpenNI2Driver::irConnectCb()
}
std::lock_guard<std::mutex> lock(connect_mutex_);

// This does not appear to work
// ir_subscribers_ = pub_ir_.getNumSubscribers() > 0;
ir_subscribers_ = this->count_subscribers("ir/image") > 0 ||
this->count_subscribers("ir/camera_info") > 0;

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