fix image publisher remapping

depth_image_proc/src/register.cpp

@@ -143,9 +143,15 @@ RegisterNode::RegisterNode(const rclcpp::NodeOptions & options)
  sub_rgb_info_.subscribe(this, "rgb/camera_info");
  }
  };
+ // For compressed topics to remap appropriately, we need to pass a
+ // fully expanded and remapped topic name to image_transport
+ auto node_base = this->get_node_base_interface();
+ std::string topic =
+ node_base->resolve_topic_or_service_name("depth_registered/image_rect", false);
+
  pub_registered_ =
  image_transport::create_camera_publisher(
- this, "depth_registered/image_rect",
+ this, topic,
  rmw_qos_profile_default, pub_options);
 }
 

image_proc/src/crop_decimate.cpp

@@ -115,6 +115,7 @@ CropDecimateNode::CropDecimateNode(const rclcpp::NodeOptions & options)
  // fully expanded and remapped topic name to image_transport
  auto node_base = this->get_node_base_interface();
  image_topic_ = node_base->resolve_topic_or_service_name("in/image_raw", false);
+ std::string pub_topic = node_base->resolve_topic_or_service_name("out/image_raw", false);
 
  queue_size_ = this->declare_parameter("queue_size", 5);
  target_frame_id_ = this->declare_parameter("target_frame_id", std::string());
@@ -156,7 +157,7 @@ CropDecimateNode::CropDecimateNode(const rclcpp::NodeOptions & options)
 
  // Create publisher with QoS matched to subscribed topic publisher
  auto qos_profile = getTopicQosProfile(this, image_topic_);
- pub_ = image_transport::create_camera_publisher(this, "out/image_raw", qos_profile, pub_options);
+ pub_ = image_transport::create_camera_publisher(this, pub_topic, qos_profile, pub_options);
 }
 
 void CropDecimateNode::imageCb(

image_proc/src/crop_non_zero.cpp

@@ -60,6 +60,7 @@ CropNonZeroNode::CropNonZeroNode(const rclcpp::NodeOptions & options)
  // fully expanded and remapped topic name to image_transport
  auto node_base = this->get_node_base_interface();
  image_topic_ = node_base->resolve_topic_or_service_name("image_raw", false);
+ std::string pub_topic = node_base->resolve_topic_or_service_name("image", false);
 
  // Setup lazy subscriber using publisher connection callback
  rclcpp::PublisherOptions pub_options;
@@ -84,7 +85,7 @@ CropNonZeroNode::CropNonZeroNode(const rclcpp::NodeOptions & options)
 
  // Create publisher with QoS matched to subscribed topic publisher
  auto qos_profile = getTopicQosProfile(this, image_topic_);
- pub_ = image_transport::create_publisher(this, "image", qos_profile, pub_options);
+ pub_ = image_transport::create_publisher(this, pub_topic, qos_profile, pub_options);
 }
 
 void CropNonZeroNode::imageCb(const sensor_msgs::msg::Image::ConstSharedPtr & raw_msg)

image_proc/src/debayer.cpp

@@ -56,10 +56,14 @@ DebayerNode::DebayerNode(const rclcpp::NodeOptions & options)
  // TransportHints does not actually declare the parameter
  this->declare_parameter<std::string>("image_transport", "raw");
 
+ debayer_ = this->declare_parameter("debayer", 3);
+
  // For compressed topics to remap appropriately, we need to pass a
  // fully expanded and remapped topic name to image_transport
  auto node_base = this->get_node_base_interface();
  image_topic_ = node_base->resolve_topic_or_service_name("image_raw", false);
+ std::string mono_topic = node_base->resolve_topic_or_service_name("image_mono", false);
+ std::string color_topic = node_base->resolve_topic_or_service_name("image_color", false);
 
  // Setup lazy subscriber using publisher connection callback
  rclcpp::PublisherOptions pub_options;
@@ -85,9 +89,8 @@ DebayerNode::DebayerNode(const rclcpp::NodeOptions & options)
 
  // Create publisher with QoS matched to subscribed topic publisher
  auto qos_profile = getTopicQosProfile(this, image_topic_);
- pub_mono_ = image_transport::create_publisher(this, "image_mono", qos_profile, pub_options);
- pub_color_ = image_transport::create_publisher(this, "image_color", qos_profile, pub_options);
- debayer_ = this->declare_parameter("debayer", 3);
+ pub_mono_ = image_transport::create_publisher(this, mono_topic, qos_profile, pub_options);
+ pub_color_ = image_transport::create_publisher(this, color_topic, qos_profile, pub_options);
 }
 
 void DebayerNode::imageCb(const sensor_msgs::msg::Image::ConstSharedPtr & raw_msg)

image_proc/src/resize.cpp

@@ -59,6 +59,7 @@ ResizeNode::ResizeNode(const rclcpp::NodeOptions & options)
  // fully expanded and remapped topic name to image_transport
  auto node_base = this->get_node_base_interface();
  image_topic_ = node_base->resolve_topic_or_service_name("image/image_raw", false);
+ std::string pub_topic = node_base->resolve_topic_or_service_name("resize/image_raw", false);
 
  // Declare parameters before we setup any publishers or subscribers
  interpolation_ = this->declare_parameter("interpolation", 1);
@@ -93,8 +94,8 @@ ResizeNode::ResizeNode(const rclcpp::NodeOptions & options)
 
  // Create publisher with QoS matched to subscribed topic publisher
  auto qos_profile = getTopicQosProfile(this, image_topic_);
- pub_image_ = image_transport::create_camera_publisher(
- this, "resize/image_raw", qos_profile, pub_options);
+ pub_image_ =
+ image_transport::create_camera_publisher(this, pub_topic, qos_profile, pub_options);
 }
 
 void ResizeNode::imageCb(

image_rotate/src/image_rotate_node.cpp

@@ -338,8 +338,13 @@ void ImageRotateNode::onInit()
  }
  }
  };
- img_pub_ = image_transport::create_publisher(
- this, "rotated/image", rmw_qos_profile_default, pub_options);
+
+ // For compressed topics to remap appropriately, we need to pass a
+ // fully expanded and remapped topic name to image_transport
+ auto node_base = this->get_node_base_interface();
+ std::string topic = node_base->resolve_topic_or_service_name("rotated/image", false);
+
+ img_pub_ = image_transport::create_publisher(this, topic, rmw_qos_profile_default, pub_options);
 }
 } // namespace image_rotate