Modify closiim_ros_realsens

- isbigendian = false Modify encoding type for L_INT8 -> TYPE_8UC1
lge-ros2 · Jan 26, 2023 · f858121 · f858121
1 parent 50b9deb
commit f858121
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Showing 2 changed files with 1 addition and 8 deletions.
diff --git a/cloisim_ros_base/include/cloisim_ros_base/camera_helper.h b/cloisim_ros_base/include/cloisim_ros_base/camera_helper.h
@@ -34,7 +34,7 @@ static std::string GetImageEncondingType(const uint32_t pixel_format)
   switch (pixel_format)
   {
     case 1:
-      encoding = sensor_msgs::image_encodings::MONO8;
+      encoding = sensor_msgs::image_encodings::TYPE_8UC1;
       break;
 
     case 2:

diff --git a/cloisim_ros_realsense/src/realsense.cpp b/cloisim_ros_realsense/src/realsense.cpp
@@ -232,13 +232,6 @@ void RealSense::PublishImgData(const zmq::Bridge* const bridge_ptr, const std::s
   sensor_msgs::fillImage(*msg_img, encoding_arg, rows_arg, cols_arg, step_arg,
                          reinterpret_cast<const void *>(pb_buf_.image().data().data()));
 
-  if ((encoding_arg.compare(sensor_msgs::image_encodings::TYPE_16UC1) == 0) ||
-      (encoding_arg.compare(sensor_msgs::image_encodings::TYPE_16SC1) == 0) ||
-      (encoding_arg.compare(sensor_msgs::image_encodings::TYPE_32FC1) == 0))
-  {
-    msg_img->is_bigendian = true;
-  }
-
   // Publish camera info
   auto camera_info_msg = camera_info_managers_[bridge_ptr]->getCameraInfo();
   camera_info_msg.header.stamp = GetTime();
-Original file line number
+Diff line change
@@ Expand Up @@
       switch (pixel_format)
       {
         case 1:
-          encoding = sensor_msgs::image_encodings::MONO8;
+          encoding = sensor_msgs::image_encodings::TYPE_8UC1;
           break;
         case 2:
@@ Expand Down @@