image_publisher: functional component

image_publisher/include/image_publisher/image_publisher.hpp

@@ -46,7 +46,9 @@ namespace image_publisher
 class ImagePublisher : public rclcpp::Node
 {
 public:
- explicit ImagePublisher(const rclcpp::NodeOptions & options);
+ ImagePublisher(
+ const rclcpp::NodeOptions & options,
+ const std::string & filename = "");
 
 protected:
  void onInit();

image_publisher/launch/image_publisher_component_file.launch.py

@@ -0,0 +1,73 @@
+# Copyright (c) 2008, Willow Garage, Inc.
+# All rights reserved.
+#
+# Software License Agreement (BSD License 2.0)
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# * Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above
+# copyright notice, this list of conditions and the following
+# disclaimer in the documentation and/or other materials provided
+# with the distribution.
+# * Neither the name of the Willow Garage nor the names of its
+# contributors may be used to endorse or promote products derived
+# from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+
+
+# This is basically the same as image_publsher_file.launch.py - but using the component
+def generate_launch_description():
+ filename = os.path.join(get_package_share_directory('image_publisher'), 'launch',
+ 'splash.png')
+ use_sim_time = LaunchConfiguration('use_sim_time', default='false')
+ return LaunchDescription([
+
+ DeclareLaunchArgument(
+ 'use_sim_time',
+ default_value='false',
+ description='Use simulation clock if true'),
+
+ ComposableNodeContainer(
+ name='image_publisher_container',
+ namespace='',
+ package='rclcpp_components',
+ executable='component_container',
+ composable_node_descriptions=[
+ ComposableNode(
+ package='image_publisher',
+ plugin='image_publisher::ImagePublisher',
+ name='image_publisher',
+ parameters=[{'filename': filename,
+ 'use_sim_time': use_sim_time}],
+ remappings=[('image_raw', '/camera/image_raw'),
+ ('camera_info', '/camera/camera_info')],
+ )
+ ],
+ output='screen',
+ ),
+ ])

image_publisher/src/image_publisher.cpp

@@ -49,7 +49,9 @@ 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
@@ -69,8 +71,6 @@ 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");
-
  auto result = rcl_interfaces::msg::SetParametersResult();
  result.successful = true;
  for (auto parameter : parameters) {
@@ -97,13 +97,16 @@ ImagePublisher::ImagePublisher(const rclcpp::NodeOptions & options)
  RCLCPP_INFO(get_logger(), "Reset publish_rate as '%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(), "Reset camera_info_url as '%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 +117,7 @@ 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 +166,7 @@ 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 +195,10 @@ 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();