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image_rotate: clean up #862

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merged 6 commits into from
Jan 19, 2024
Merged

image_rotate: clean up #862

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ea1af6d
image_rotate: initialize target vectors
mikeferguson Jan 19, 2024
478d8ea
implement lazy subscribers
mikeferguson Jan 19, 2024
29b148a
add parameter for subscriber transport
mikeferguson Jan 19, 2024
652e5b2
remove dead code, make topic check actually work
mikeferguson Jan 19, 2024
ab8409f
linting
mikeferguson Jan 19, 2024
6755ce5
use TransportHints
mikeferguson Jan 19, 2024
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4 changes: 0 additions & 4 deletions image_rotate/include/image_rotate/image_rotate_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -82,10 +82,6 @@ class ImageRotateNode : public rclcpp::Node
void do_work(
const sensor_msgs::msg::Image::ConstSharedPtr & msg,
const std::string input_frame_from_msg);
void subscribe();
void unsubscribe();
void connectCb();
void disconnectCb();
void onInit();

rclcpp::Node::OnSetParametersCallbackHandle::SharedPtr on_set_parameters_callback_handle_;
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7 changes: 0 additions & 7 deletions image_rotate/src/image_rotate.cpp
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Expand Up @@ -38,13 +38,6 @@ int main(int argc, char ** argv)
// Force flush of the stdout buffer.
setvbuf(stdout, NULL, _IONBF, BUFSIZ);

if (argc <= 1) {
RCUTILS_LOG_WARN(
"Topic 'image' has not been remapped! Typical command-line usage:\n"
"\t$ ros2 run image_rotate image_rotate image:=<image topic>");
return 1;
}
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This debug message didn't work at all - made a more robust version by checking the overlap of our topic name with the actual topics that exist (as many of our depth_image_proc stuff does)


rclcpp::init(argc, argv);
rclcpp::NodeOptions options;
auto node = std::make_shared<image_rotate::ImageRotateNode>(options);
Expand Down
178 changes: 80 additions & 98 deletions image_rotate/src/image_rotate_node.cpp
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Expand Up @@ -72,31 +72,9 @@ namespace image_rotate
ImageRotateNode::ImageRotateNode(const rclcpp::NodeOptions & options)
: rclcpp::Node("ImageRotateNode", options)
{
config_.target_frame_id = this->declare_parameter("target_frame_id", std::string(""));
config_.target_x = this->declare_parameter("target_x", 0.0);
config_.target_y = this->declare_parameter("target_y", 0.0);
config_.target_z = this->declare_parameter("target_z", 1.0);

config_.source_frame_id = this->declare_parameter("source_frame_id", std::string(""));
config_.source_x = this->declare_parameter("source_x", 0.0);
config_.source_y = this->declare_parameter("source_y", -1.0);
config_.source_z = this->declare_parameter("source_z", 0.0);

config_.output_frame_id = this->declare_parameter("output_frame_id", std::string(""));
config_.input_frame_id = this->declare_parameter("input_frame_id", std::string(""));
config_.use_camera_info = this->declare_parameter("use_camera_info", true);
config_.max_angular_rate = this->declare_parameter(
"max_angular_rate",
10.0);
config_.output_image_size = this->declare_parameter(
"output_image_size",
2.0);

auto reconfigureCallback =
[this](std::vector<rclcpp::Parameter> parameters) -> rcl_interfaces::msg::SetParametersResult
{
RCLCPP_INFO(get_logger(), "reconfigureCallback");

auto result = rcl_interfaces::msg::SetParametersResult();
result.successful = true;
for (auto parameter : parameters) {
Expand Down Expand Up @@ -128,13 +106,31 @@ ImageRotateNode::ImageRotateNode(const rclcpp::NodeOptions & options)
source_vector_.vector.x = config_.source_x;
source_vector_.vector.y = config_.source_y;
source_vector_.vector.z = config_.source_z;
if (subscriber_count_) { // @todo: Could do this without an interruption at some point.
unsubscribe();
subscribe();
}
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this is unneeded - none of the parameters that are able to be updated would impact how the subscribers would actually be setup


return result;
};
on_set_parameters_callback_handle_ = this->add_on_set_parameters_callback(reconfigureCallback);

// Set parameters AFTER add_on_set_parameters_callback
config_.target_frame_id = this->declare_parameter("target_frame_id", std::string(""));
config_.target_x = this->declare_parameter("target_x", 0.0);
config_.target_y = this->declare_parameter("target_y", 0.0);
config_.target_z = this->declare_parameter("target_z", 1.0);

config_.source_frame_id = this->declare_parameter("source_frame_id", std::string(""));
config_.source_x = this->declare_parameter("source_x", 0.0);
config_.source_y = this->declare_parameter("source_y", -1.0);
config_.source_z = this->declare_parameter("source_z", 0.0);

config_.output_frame_id = this->declare_parameter("output_frame_id", std::string(""));
config_.input_frame_id = this->declare_parameter("input_frame_id", std::string(""));
config_.use_camera_info = this->declare_parameter("use_camera_info", true);
config_.max_angular_rate = this->declare_parameter("max_angular_rate", 10.0);
config_.output_image_size = this->declare_parameter("output_image_size", 2.0);

// TransportHints does not actually declare the parameter
this->declare_parameter<std::string>("image_transport", "raw");

onInit();
}

Expand Down Expand Up @@ -187,13 +183,6 @@ void ImageRotateNode::do_work(
source_frame_id, input_frame_id, tf2_time, tf2_time - prev_stamp_);
tf2::doTransform(source_vector_, source_vector_transformed, transform);

// RCUTILS_LOG_INFO("target: %f %f %f", target_vector_.x, target_vector_.y, target_vector_.z);
// RCUTILS_LOG_INFO("target_transformed: %f %f %f", target_vector_transformed.x, "
// "target_vector_transformed.y, target_vector_transformed.z");
// RCUTILS_LOG_INFO("source: %f %f %f", source_vector_.x, source_vector_.y, source_vector_.z);
// RCUTILS_LOG_INFO("source_transformed: %f %f %f", source_vector_transformed.x, "
// "source_vector_transformed.y, source_vector_transformed.z");

// Calculate the angle of the rotation.
double angle = angle_;
if ((target_vector_transformed.vector.x != 0 || target_vector_transformed.vector.y != 0) &&
Expand Down Expand Up @@ -226,11 +215,9 @@ void ImageRotateNode::do_work(
}
angle_ = fmod(angle_, 2.0 * M_PI);
} catch (const tf2::TransformException & e) {
RCUTILS_LOG_ERROR("Transform error: %s", e.what());
RCLCPP_ERROR(get_logger(), "Transform error: %s", e.what());
}

// RCUTILS_LOG_INFO("angle: %f", 180 * angle_ / M_PI);

// Publish the transform.
geometry_msgs::msg::TransformStamped transform;
transform.transform.translation.x = 0;
Expand Down Expand Up @@ -262,7 +249,6 @@ void ImageRotateNode::do_work(
int step = config_.output_image_size;
out_size = candidates[step] + (candidates[step + 1] - candidates[step]) *
(config_.output_image_size - step);
// RCUTILS_LOG_INFO("out_size: %d", out_size);

// Compute the rotation matrix.
cv::Mat rot_matrix = cv::getRotationMatrix2D(
Expand All @@ -281,63 +267,15 @@ void ImageRotateNode::do_work(
out_img->header.frame_id = transform.child_frame_id;
img_pub_.publish(out_img);
} catch (const cv::Exception & e) {
RCUTILS_LOG_ERROR(
RCLCPP_ERROR(
get_logger(),
"Image processing error: %s %s %s %i",
e.err.c_str(), e.func.c_str(), e.file.c_str(), e.line);
}

prev_stamp_ = tf2_ros::fromMsg(msg->header.stamp);
}

void ImageRotateNode::subscribe()
{
RCUTILS_LOG_DEBUG("Subscribing to image topic.");
if (config_.use_camera_info && config_.input_frame_id.empty()) {
auto custom_qos = rmw_qos_profile_system_default;
custom_qos.depth = 3;

cam_sub_ = image_transport::create_camera_subscription(
this,
"image",
std::bind(
&ImageRotateNode::imageCallbackWithInfo, this,
std::placeholders::_1, std::placeholders::_2),
"raw",
custom_qos);
} else {
auto custom_qos = rmw_qos_profile_system_default;
custom_qos.depth = 3;
img_sub_ = image_transport::create_subscription(
this,
"image",
std::bind(&ImageRotateNode::imageCallback, this, std::placeholders::_1),
"raw",
custom_qos);
}
}

void ImageRotateNode::unsubscribe()
{
RCUTILS_LOG_DEBUG("Unsubscribing from image topic.");
img_sub_.shutdown();
cam_sub_.shutdown();
}

void ImageRotateNode::connectCb()
{
if (subscriber_count_++ == 0) {
subscribe();
}
}

void ImageRotateNode::disconnectCb()
{
subscriber_count_--;
if (subscriber_count_ == 0) {
unsubscribe();
}
}

void ImageRotateNode::onInit()
{
subscriber_count_ = 0;
Expand All @@ -346,18 +284,62 @@ void ImageRotateNode::onInit()
rclcpp::Clock::SharedPtr clock = this->get_clock();
tf_buffer_ = std::make_shared<tf2_ros::Buffer>(clock);
tf_sub_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_);
// TODO(yechun1): Implement when SubscriberStatusCallback is available
// image_transport::SubscriberStatusCallback connect_cb =
// boost::bind(&ImageRotateNode::connectCb, this, _1);
// image_transport::SubscriberStatusCallback connect_cb =
// std::bind(&CropForemostNode::connectCb, this);
// image_transport::SubscriberStatusCallback disconnect_cb =
// boost::bind(&ImageRotateNode::disconnectCb, this, _1);
// img_pub_ = image_transport::ImageTransport(ros::NodeHandle(nh_, "rotated")).advertise(
// "image", 1, connect_cb, disconnect_cb);
connectCb();
img_pub_ = image_transport::create_publisher(this, "rotated/image");
tf_pub_ = std::make_shared<tf2_ros::TransformBroadcaster>(*this);

// Create publisher with connect callback
rclcpp::PublisherOptions pub_options;
pub_options.event_callbacks.matched_callback =
[this](rclcpp::MatchedInfo &)
{
if (img_pub_.getNumSubscribers() == 0) {
RCLCPP_DEBUG(get_logger(), "Unsubscribing from image topic.");
img_sub_.shutdown();
cam_sub_.shutdown();
} else {
// 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_name = node_base->resolve_topic_or_service_name("image", false);
RCLCPP_INFO(get_logger(), "Subscribing to %s topic.", topic_name.c_str());

// Check that remapping appears to be correct
auto topics = this->get_topic_names_and_types();
if (topics.find(topic_name) == topics.end()) {
RCLCPP_WARN(
get_logger(),
"Topic %s is not connected! Typical command-line usage:\n"
"\t$ ros2 run image_rotate image_rotate --ros-args -r image:=<image topic>",
topic_name.c_str());
}

// This will check image_transport parameter to get proper transport
image_transport::TransportHints transport_hint(this, "raw");

if (config_.use_camera_info && config_.input_frame_id.empty()) {
auto custom_qos = rmw_qos_profile_system_default;
custom_qos.depth = 3;
cam_sub_ = image_transport::create_camera_subscription(
this,
topic_name,
std::bind(
&ImageRotateNode::imageCallbackWithInfo, this,
std::placeholders::_1, std::placeholders::_2),
transport_hint.getTransport(),
custom_qos);
} else {
auto custom_qos = rmw_qos_profile_system_default;
custom_qos.depth = 3;
img_sub_ = image_transport::create_subscription(
this,
topic_name,
std::bind(&ImageRotateNode::imageCallback, this, std::placeholders::_1),
transport_hint.getTransport(),
custom_qos);
}
}
};
img_pub_ = image_transport::create_publisher(
this, "rotated/image", rmw_qos_profile_default, pub_options);
}
} // namespace image_rotate

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