make image_common a submodule and recursively clone it and set it up

.gitmodules

@@ -0,0 +1,4 @@
+[submodule "image_common"]
+	path = image_common
+	url = https://github.com/ros-perception/image_common.git
+	branch = humble

README.md

@@ -24,9 +24,11 @@ You are welcome to post any questions or issues on [GitHub](https://github.com/b
 ### Install and build the packages
 
 This repository including the pylon ROS2 packages must be cloned in your workspace (e.g., `dev_ws` for instance):  
-``cd ~/dev_ws/src && git clone -b humble https://github.com/basler/pylon-ros-camera pylon_ros2_camera``  
-Due to a known issue with ROS2 (see the dedicated section below), the latest version of the `image_common` package must be installed from sources:  
-``cd ~/dev_ws/src/pylon_ros2_camera && git clone https://github.com/ros-perception/image_common.git -b humble``  
+```
+cd ~/dev_ws/src && git clone -b --recursive humble https://github.com/basler/pylon-ros-camera pylon_ros2_camera
+git submodule update --init --recursive
+```
+
 
 Install the ROS2 dependencies required by the pylon ROS2 packages:  
 ``cd ~/dev_ws && rosdep install --from-paths src --ignore-src -r -y``  

pylon_ros2_camera_component/CMakeLists.txt

@@ -1,6 +1,20 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.16)
+
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} /usr/share/cmake-3.22/Modules)
+
+##### Set CMP0148 policy #####
+if(POLICY CMP0148)
+  cmake_policy(SET CMP0148 NEW)
+endif()
+
+# cmake_policy(SET CMP0144 OLD)
+
 project(pylon_ros2_camera_component)
 
+# # Other project settings
+# find_package(PCL REQUIRED)
+# find_package(Eigen3 REQUIRED)
+
 # Default to C99
 if(NOT CMAKE_C_STANDARD)
   set(CMAKE_C_STANDARD 99)

pylon_ros2_camera_interfaces/CMakeLists.txt

@@ -1,6 +1,13 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.16)
 project(pylon_ros2_camera_interfaces)
 
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} /usr/share/cmake-3.22/Modules)
+
+##### Set CMP0148 policy #####
+if(POLICY CMP0148)
+  cmake_policy(SET CMP0148 NEW)
+endif()
+
 # Default to C++14
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)

pylon_ros2_camera_wrapper/CMakeLists.txt

@@ -1,6 +1,20 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.16)
+
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} /usr/share/cmake-3.22/Modules)
+
+##### Set CMP0148 policy #####
+if(POLICY CMP0148)
+  cmake_policy(SET CMP0148 NEW)
+endif()
+
+# cmake_policy(SET CMP0144 OLD)
+
 project(pylon_ros2_camera_wrapper)
 
+# # Other project settings
+# find_package(PCL REQUIRED)
+# find_package(Eigen3 REQUIRED)
+
 # Default to C99
 if(NOT CMAKE_C_STANDARD)
   set(CMAKE_C_STANDARD 99)

pylon_ros2_camera_wrapper/config/default.yaml

@@ -34,7 +34,7 @@
     #  The desired publisher frame rate if listening to the topics.
     #  This parameter can only be set once at startup
     #  Calling the GrabImages-Action can result in a higher framerate
-    frame_rate: 5.0
+    frame_rate: 0.1
 
     #  Mode of camera's shutter.
     #  The supported modes are "rolling", "global" and "global_reset"