apply same treatment to image_view

ros-perception · Jan 18, 2024 · 914baf2 · 914baf2
1 parent e350e74
commit 914baf2
Showing 1 changed file with 5 additions and 3 deletions.
diff --git a/image_view/src/image_view_node.cpp b/image_view/src/image_view_node.cpp
@@ -107,8 +107,10 @@ ImageViewNode::ImageViewNode(const rclcpp::NodeOptions & options)
  auto transport = this->declare_parameter("image_transport", "raw");
  RCLCPP_INFO(this->get_logger(), "Using transport \"%s\"", transport.c_str());
 
- std::string topic = rclcpp::expand_topic_or_service_name(
- "image", this->get_name(), this->get_namespace());
+ // 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("image", false);
 
  image_transport::TransportHints hints(this, transport);
  pub_ = this->create_publisher<sensor_msgs::msg::Image>("output", 1);
@@ -118,7 +120,7 @@ ImageViewNode::ImageViewNode(const rclcpp::NodeOptions & options)
 
  auto topics = this->get_topic_names_and_types();
 
- if (topics.find(topic) != topics.end()) {
+ if (topics.find(topic) == topics.end()) {
  RCLCPP_WARN(
  this->get_logger(), "Topic 'image' has not been remapped! "
  "Typical command-line usage:\n"