Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

make remaining components lazy #853

Merged
merged 3 commits into from
Jan 18, 2024
Merged

make remaining components lazy #853

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
3c3d5b5
make remaining components lazy
mikeferguson Jan 18, 2024
f7abed1
linting
mikeferguson Jan 18, 2024
89a20dc
remove connectCb
mikeferguson Jan 18, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
47 changes: 18 additions & 29 deletions depth_image_proc/src/crop_foremost.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -58,8 +58,6 @@ class CropForemostNode : public rclcpp::Node
std::mutex connect_mutex_;
image_transport::Publisher pub_depth_;

void connectCb();

void depthCb(const sensor_msgs::msg::Image::ConstSharedPtr & raw_msg);

double distance_;
Expand All @@ -72,33 +70,24 @@ CropForemostNode::CropForemostNode(const rclcpp::NodeOptions & options)
{
distance_ = this->declare_parameter("distance", 0.0);

// Monitor whether anyone is subscribed to the output
// TODO(ros2) Implement when SubscriberStatusCallback is available
// image_transport::SubscriberStatusCallback connect_cb =
// std::bind(&CropForemostNode::connectCb, this);
connectCb();
// Make sure we don't enter connectCb() between advertising and assigning to pub_depth_
std::lock_guard<std::mutex> lock(connect_mutex_);
// TODO(ros2) Implement when SubscriberStatusCallback is available
// pub_depth_ = it_->advertise("image", 1, connect_cb, connect_cb);
pub_depth_ = image_transport::create_publisher(this, "image");
}

// Handles (un)subscribing when clients (un)subscribe
void CropForemostNode::connectCb()
{
std::lock_guard<std::mutex> lock(connect_mutex_);
// TODO(ros2) Implement getNumSubscribers when rcl/rmw support it
// if (pub_depth_.getNumSubscribers() == 0)
if (0) {
sub_raw_.shutdown();
} else if (!sub_raw_) {
image_transport::TransportHints hints(this, "raw");
sub_raw_ = image_transport::create_subscription(
this, "image_raw",
std::bind(&CropForemostNode::depthCb, this, std::placeholders::_1),
hints.getTransport());
}
// Create publisher with connect callback
rclcpp::PublisherOptions pub_options;
pub_options.event_callbacks.matched_callback =
[this](rclcpp::MatchedInfo &)
{
std::lock_guard<std::mutex> lock(connect_mutex_);
if (pub_depth_.getNumSubscribers() == 0) {
sub_raw_.shutdown();
} else if (!sub_raw_) {
image_transport::TransportHints hints(this, "raw");
sub_raw_ = image_transport::create_subscription(
this, "image_raw",
std::bind(&CropForemostNode::depthCb, this, std::placeholders::_1),
hints.getTransport());
}
};
pub_depth_ =
image_transport::create_publisher(this, "image", rmw_qos_profile_default, pub_options);
}

void CropForemostNode::depthCb(const sensor_msgs::msg::Image::ConstSharedPtr & raw_msg)
Expand Down
45 changes: 16 additions & 29 deletions depth_image_proc/src/disparity.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -69,8 +69,6 @@ class DisparityNode : public rclcpp::Node
double max_range_;
double delta_d_;

void connectCb();

void depthCb(
const sensor_msgs::msg::Image::ConstSharedPtr & depth_msg,
const sensor_msgs::msg::CameraInfo::ConstSharedPtr & info_msg);
Expand Down Expand Up @@ -98,34 +96,23 @@ DisparityNode::DisparityNode(const rclcpp::NodeOptions & options)
std::bind(
&DisparityNode::depthCb, this, std::placeholders::_1, std::placeholders::_2));

// Monitor whether anyone is subscribed to the output
// TODO(ros2) Implement when SubscriberStatusCallback is available
// ros::SubscriberStatusCallback connect_cb = std::bind(&DisparityNode::connectCb, this);
connectCb();

// Make sure we don't enter connectCb() between advertising and assigning to pub_disparity_
std::lock_guard<std::mutex> lock(connect_mutex_);
// TODO(ros2) Implement when SubscriberStatusCallback is available
// pub_disparity_ =
// left_nh.advertise<stereo_msgs::DisparityImage>("disparity", 1, connect_cb, connect_cb);
// Create publisher with connect callback
rclcpp::PublisherOptions pub_options;
pub_options.event_callbacks.matched_callback =
[this](rclcpp::MatchedInfo &)
{
std::lock_guard<std::mutex> lock(connect_mutex_);
if (pub_disparity_->get_subscription_count() == 0) {
sub_depth_image_.unsubscribe();
sub_info_.unsubscribe();
} else if (!sub_depth_image_.getSubscriber()) {
image_transport::TransportHints hints(this, "raw");
sub_depth_image_.subscribe(this, "left/image_rect", hints.getTransport());
sub_info_.subscribe(this, "right/camera_info");
}
};
pub_disparity_ = create_publisher<stereo_msgs::msg::DisparityImage>(
"left/disparity", rclcpp::SensorDataQoS());
}

// Handles (un)subscribing when clients (un)subscribe
void DisparityNode::connectCb()
{
std::lock_guard<std::mutex> lock(connect_mutex_);
// TODO(ros2) Implement getNumSubscribers when rcl/rmw support it
// if (pub_disparity_.getNumSubscribers() == 0)
if (0) {
sub_depth_image_.unsubscribe();
sub_info_.unsubscribe();
} else if (!sub_depth_image_.getSubscriber()) {
image_transport::TransportHints hints(this, "raw");
sub_depth_image_.subscribe(this, "left/image_rect", hints.getTransport());
sub_info_.subscribe(this, "right/camera_info");
}
"left/disparity", rclcpp::SensorDataQoS(), pub_options);
}

void DisparityNode::depthCb(
Expand Down
53 changes: 21 additions & 32 deletions depth_image_proc/src/register.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -83,8 +83,6 @@ class RegisterNode : public rclcpp::Node
// Parameters
bool fill_upsampling_holes_;

void connectCb();

void imageCb(
const Image::ConstSharedPtr & depth_image_msg,
const CameraInfo::ConstSharedPtr & depth_info_msg,
Expand Down Expand Up @@ -119,36 +117,27 @@ RegisterNode::RegisterNode(const rclcpp::NodeOptions & options)
&RegisterNode::imageCb, this, std::placeholders::_1,
std::placeholders::_2, std::placeholders::_3));

// Monitor whether anyone is subscribed to the output
// TODO(ros2) Implement when SubscriberStatusCallback is available
// image_transport::SubscriberStatusCallback image_connect_cb
// boost::bind(&RegisterNode::connectCb, this);
// ros::SubscriberStatusCallback info_connect_cb = boost::bind(&RegisterNode::connectCb, this);
connectCb();
// Make sure we don't enter connectCb() between advertising and assigning to pub_registered_
std::lock_guard<std::mutex> lock(connect_mutex_);
// pub_registered_ = it_depth_reg.advertiseCamera("image_rect", 1,
// image_connect_cb, image_connect_cb,
// info_connect_cb, info_connect_cb);
pub_registered_ = image_transport::create_camera_publisher(this, "depth_registered/image_rect");
}

// Handles (un)subscribing when clients (un)subscribe
void RegisterNode::connectCb()
{
std::lock_guard<std::mutex> lock(connect_mutex_);
// TODO(ros2) Implement getNumSubscribers when rcl/rmw support it
// if (pub_point_cloud_->getNumSubscribers() == 0)
if (0) {
sub_depth_image_.unsubscribe();
sub_depth_info_.unsubscribe();
sub_rgb_info_.unsubscribe();
} else if (!sub_depth_image_.getSubscriber()) {
image_transport::TransportHints hints(this, "raw");
sub_depth_image_.subscribe(this, "depth/image_rect", hints.getTransport());
sub_depth_info_.subscribe(this, "depth/camera_info");
sub_rgb_info_.subscribe(this, "rgb/camera_info");
}
// Create publisher with connect callback
rclcpp::PublisherOptions pub_options;
pub_options.event_callbacks.matched_callback =
[this](rclcpp::MatchedInfo &)
{
std::lock_guard<std::mutex> lock(connect_mutex_);
if (pub_registered_.getNumSubscribers() == 0) {
sub_depth_image_.unsubscribe();
sub_depth_info_.unsubscribe();
sub_rgb_info_.unsubscribe();
} else if (!sub_depth_image_.getSubscriber()) {
image_transport::TransportHints hints(this, "raw");
sub_depth_image_.subscribe(this, "depth/image_rect", hints.getTransport());
sub_depth_info_.subscribe(this, "depth/camera_info");
sub_rgb_info_.subscribe(this, "rgb/camera_info");
}
};
pub_registered_ =
image_transport::create_camera_publisher(
this, "depth_registered/image_rect",
rmw_qos_profile_default, pub_options);
}

void RegisterNode::imageCb(
Expand Down
Loading