radial nodes: should all sub to raw topics

depth_image_proc/include/depth_image_proc/conversions.hpp

@@ -60,7 +60,7 @@ void convertDepth(
  float center_y = model.cy();
 
  // Combine unit conversion (if necessary) with scaling by focal length for computing (X,Y)
- double unit_scaling = DepthTraits<T>::toMeters(T(1) );
+ double unit_scaling = DepthTraits<T>::toMeters(T(1));
  float constant_x = unit_scaling / model.fx();
  float constant_y = unit_scaling / model.fy();
  float bad_point = std::numeric_limits<float>::quiet_NaN();

depth_image_proc/launch/point_cloud_xyz_radial.launch.py

@@ -60,8 +60,7 @@ def generate_launch_description():
  package='depth_image_proc',
  plugin='depth_image_proc::PointCloudXyzRadialNode',
  name='point_cloud_xyz_radial_node',
- remappings=[('image_raw', '/camera/depth/image_rect_raw'),
- ('camera_info', '/camera/depth/camera_info'),
+ remappings=[('depth/image_raw', '/camera/depth/image_rect_raw'),
  ('image', '/camera/depth/converted_image')]
  ),
  ],

depth_image_proc/launch/point_cloud_xyzi.launch.py

@@ -48,7 +48,7 @@ def generate_launch_description():
  package='realsense_ros2_camera', node_executable='realsense_ros2_camera',
  output='screen'),
 
- # TODO: Realsense camera do not support intensity message
+ # NOTE: Realsense camera do not support intensity message
  # use color image instead of intensity only for interface test
  launch_ros.actions.ComposableNodeContainer(
  name='container',

depth_image_proc/launch/point_cloud_xyzi_radial.launch.py

@@ -48,7 +48,7 @@ def generate_launch_description():
  package='realsense_ros2_camera', node_executable='realsense_ros2_camera',
  output='screen'),
 
- # TODO: Realsense camera do not support intensity message,
+ # NOTE: Realsense camera do not support intensity message,
  # use depth instead of intensity only for interface test
  launch_ros.actions.ComposableNodeContainer(
  name='container',

depth_image_proc/launch/point_cloud_xyzrgb_radial.launch.py

@@ -73,10 +73,8 @@ def generate_launch_description():
  package='depth_image_proc',
  plugin='depth_image_proc::PointCloudXyzrgbRadialNode',
  name='point_cloud_xyzrgb_node',
- remappings=[('rgb/camera_info', '/camera/color/camera_info'),
- ('rgb/image_rect_color', '/camera/color/image_raw'),
- ('depth_registered/image_rect',
- '/camera/aligned_depth_to_color/image_raw'),
+ remappings=[('rgb/image_raw', '/camera/color/image_raw'),
+ ('depth/image_raw', '/camera/aligned_depth_to_color/image_raw'),
  ('points', '/camera/depth_registered/points')]
  ),
  ],

depth_image_proc/src/point_cloud_xyz.cpp

@@ -90,7 +90,6 @@ PointCloudXyzNode::PointCloudXyzNode(const rclcpp::NodeOptions & options)
  pub_point_cloud_ = create_publisher<PointCloud2>("points", rclcpp::SensorDataQoS(), pub_options);
 }
 
-
 void PointCloudXyzNode::depthCb(
  const Image::ConstSharedPtr & depth_msg,
  const CameraInfo::ConstSharedPtr & info_msg)

depth_image_proc/src/point_cloud_xyz_radial.cpp

@@ -68,7 +68,7 @@ PointCloudXyzRadialNode::PointCloudXyzRadialNode(const rclcpp::NodeOptions & opt
  // 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_rect", false);
+ std::string topic = node_base->resolve_topic_or_service_name("depth/image_raw", false);
  // Get transport and QoS
  image_transport::TransportHints depth_hints(this, "raw", "depth_image_transport");
  auto custom_qos = rmw_qos_profile_system_default;

depth_image_proc/src/point_cloud_xyzi_radial.cpp

@@ -88,7 +88,7 @@ PointCloudXyziRadialNode::PointCloudXyziRadialNode(const rclcpp::NodeOptions & o
  // fully expanded and remapped topic name to image_transport
  auto node_base = this->get_node_base_interface();
  std::string depth_topic =
- node_base->resolve_topic_or_service_name("depth/image_rect", false);
+ node_base->resolve_topic_or_service_name("depth/image_raw", false);
  std::string intensity_topic =
  node_base->resolve_topic_or_service_name("intensity/image_raw", false);
  // Allow also remapping camera_info to something different than default

depth_image_proc/src/point_cloud_xyzrgb_radial.cpp

@@ -103,9 +103,9 @@ PointCloudXyzrgbRadialNode::PointCloudXyzrgbRadialNode(const rclcpp::NodeOptions
  // fully expanded and remapped topic name to image_transport
  auto node_base = this->get_node_base_interface();
  std::string depth_topic =
- node_base->resolve_topic_or_service_name("depth_registered/image_rect", false);
+ node_base->resolve_topic_or_service_name("depth/image_raw", false);
  std::string rgb_topic =
- node_base->resolve_topic_or_service_name("rgb/image_rect_color", false);
+ node_base->resolve_topic_or_service_name("rgb/image_raw", false);
  // Allow also remapping camera_info to something different than default
  std::string rgb_info_topic =
  node_base->resolve_topic_or_service_name(