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updates for foxy #132

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merged 7 commits into from
Mar 27, 2021
Merged

updates for foxy #132

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ddc19f2
move the timestamping closer to when the image was acquired. #75
lucasw Jul 2, 2017
966ad3d
use the v4l2_buffer timestamp if available. #75
lucasw Jul 2, 2017
0de0240
adding launch file
lucasw Oct 31, 2018
67e6b85
minor updates to foxy
flynneva Oct 26, 2020
56b7a35
add ros2 github actions
flynneva Oct 28, 2020
50bc2fd
fixing lint errors
flynneva Oct 28, 2020
c84aa27
add myself to authors
flynneva Mar 16, 2021
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minor updates to foxy
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@flynneva
flynneva committed Mar 24, 2021
commit 67e6b857755e3a6106836fe41d31bb5412e92e2c
6 changes: 3 additions & 3 deletions nodes/usb_cam_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -57,7 +57,7 @@ class UsbCamNode : public rclcpp::Node
// shared image message
sensor_msgs::msg::Image::SharedPtr img_;
rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr image_pub_;

// parameters
std::string video_device_name_ = "/dev/video0";
std::string frame_id_ = "map";
Expand Down Expand Up @@ -110,7 +110,7 @@ class UsbCamNode : public rclcpp::Node
// demos/intra_process_demo/include/image_pipeline/camera_node.hpp
img_ = std::make_shared<sensor_msgs::msg::Image>();
// advertise the main image topic
image_pub_ = this->create_publisher<sensor_msgs::msg::Image>("image_raw");
image_pub_ = this->create_publisher<sensor_msgs::msg::Image>("image_raw", 100);
}

void init()
Expand Down Expand Up @@ -299,7 +299,7 @@ class UsbCamNode : public rclcpp::Node
image_pub_.publish(img_, *ci);
#endif
// INFO(img_->data.size() << " " << img_->width << " " << img_->height << " " << img_->step);
image_pub_->publish(img_);
image_pub_->publish(*img_);

return true;
}
Expand Down