image_publisher: functional component

* filename now functions when using a component
* parameter callback gets called at startup when using the component
* cleanup a bit of the logging

image_publisher/include/image_publisher/image_publisher.hpp

@@ -46,7 +46,8 @@ namespace image_publisher
 class ImagePublisher : public rclcpp::Node
 {
 public:
- explicit ImagePublisher(const rclcpp::NodeOptions & options);
+ explicit ImagePublisher(const rclcpp::NodeOptions & options,
+ const std::string & filename = "");
 
 protected:
  void onInit();

image_publisher/src/image_publisher.cpp

@@ -49,7 +49,8 @@ namespace image_publisher
 
 using namespace std::chrono_literals;
 
-ImagePublisher::ImagePublisher(const rclcpp::NodeOptions & options)
+ImagePublisher::ImagePublisher(const rclcpp::NodeOptions & options,
+ const std::string & filename)
 : rclcpp::Node("ImagePublisher", options)
 {
  // For compressed topics to remap appropriately, we need to pass a
@@ -69,41 +70,44 @@ ImagePublisher::ImagePublisher(const rclcpp::NodeOptions & options)
  auto param_change_callback =
  [this](std::vector<rclcpp::Parameter> parameters) -> rcl_interfaces::msg::SetParametersResult
  {
- RCLCPP_INFO(get_logger(), "param_change_callback");
+ RCLCPP_INFO(get_logger(), "Updating parameters:");
 
  auto result = rcl_interfaces::msg::SetParametersResult();
  result.successful = true;
  for (auto parameter : parameters) {
  if (parameter.get_name() == "filename") {
  filename_ = parameter.as_string();
- RCLCPP_INFO(get_logger(), "Reset filename as '%s'", filename_.c_str());
+ RCLCPP_INFO(get_logger(), "Update filename to '%s'", filename_.c_str());
  ImagePublisher::onInit();
  return result;
  } else if (parameter.get_name() == "flip_horizontal") {
  flip_horizontal_ = parameter.as_bool();
- RCLCPP_INFO(get_logger(), "Reset flip_horizontal as '%d'", flip_horizontal_);
+ RCLCPP_INFO(get_logger(), "Update flip_horizontal to '%d'", flip_horizontal_);
  ImagePublisher::onInit();
  return result;
  } else if (parameter.get_name() == "flip_vertical") {
  flip_vertical_ = parameter.as_bool();
- RCLCPP_INFO(get_logger(), "Reset flip_vertical as '%d'", flip_vertical_);
+ RCLCPP_INFO(get_logger(), "Update flip_vertical to '%d'", flip_vertical_);
  ImagePublisher::onInit();
  return result;
  } else if (parameter.get_name() == "frame_id") {
  frame_id_ = parameter.as_string();
- RCLCPP_INFO(get_logger(), "Reset frame_id as '%s'", frame_id_.c_str());
+ RCLCPP_INFO(get_logger(), "Update frame_id to '%s'", frame_id_.c_str());
  } else if (parameter.get_name() == "publish_rate") {
  publish_rate_ = parameter.as_double();
- RCLCPP_INFO(get_logger(), "Reset publish_rate as '%lf'", publish_rate_);
+ RCLCPP_INFO(get_logger(), "Update publish_rate to '%lf'", publish_rate_);
  } else if (parameter.get_name() == "camera_info_url") {
  camera_info_url_ = parameter.as_string();
- RCLCPP_INFO(get_logger(), "Reset camera_info_rul as '%s'", camera_info_url_.c_str());
+ RCLCPP_INFO(get_logger(), "Update camera_info_url to '%s'", camera_info_url_.c_str());
  }
  }
  ImagePublisher::reconfigureCallback();
  return result;
  };
  on_set_parameters_callback_handle_ = this->add_on_set_parameters_callback(param_change_callback);
+
+ // Set the filename after we do add_on_set_parameters_callback so the callback triggers
+ filename_ = this->declare_parameter("filename", filename);
 }
 
 void ImagePublisher::reconfigureCallback()
@@ -114,7 +118,7 @@ void ImagePublisher::reconfigureCallback()
 
  camera_info_manager::CameraInfoManager c(this);
  if (!camera_info_url_.empty()) {
- RCLCPP_INFO(get_logger(), "camera_info_url exist");
+ RCLCPP_INFO(get_logger(), "camera_info_url: %s", camera_info_url_.c_str());
  try {
  c.validateURL(camera_info_url_);
  c.loadCameraInfo(camera_info_url_);
@@ -163,7 +167,7 @@ void ImagePublisher::doWork()
 
 void ImagePublisher::onInit()
 {
- RCLCPP_INFO(this->get_logger(), "File name for publishing image is : %s", filename_.c_str());
+ RCLCPP_INFO(this->get_logger(), "File name for publishing image is: %s", filename_.c_str());
  try {
  image_ = cv::imread(filename_, cv::IMREAD_COLOR);
  if (image_.empty()) { // if filename not exist, open video device
@@ -192,10 +196,10 @@ void ImagePublisher::onInit()
 
  RCLCPP_INFO(
  this->get_logger(),
- "Flip horizontal image is : %s", ((flip_horizontal_) ? "true" : "false"));
+ "Flip horizontal image is: %s", ((flip_horizontal_) ? "true" : "false"));
  RCLCPP_INFO(
  this->get_logger(),
- "Flip flip_vertical image is : %s", ((flip_vertical_) ? "true" : "false"));
+ "Flip flip_vertical image is: %s", ((flip_vertical_) ? "true" : "false"));
 
  // From http://docs.opencv.org/modules/core/doc/operations_on_arrays.html
  // #void flip(InputArray src, OutputArray dst, int flipCode)

image_publisher/src/image_publisher_node.cpp

@@ -49,8 +49,7 @@ int main(int argc, char ** argv)
  }
 
  rclcpp::NodeOptions options;
- auto publisher = std::make_shared<image_publisher::ImagePublisher>(options);
- publisher->declare_parameter("filename", argv[1]);
+ auto publisher = std::make_shared<image_publisher::ImagePublisher>(options, argv[1]);
 
  rclcpp::spin(publisher);
  rclcpp::shutdown();