[ROS2] reconfigurable transport scoped parameters for CompressedDepthPublisher (backport #145) #148
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(cherry picked from commit 020be42)
- runtime reconfiguration
- <image>.<transport>.<param> as future replacement of <image>.<param>
- e.g. `image.compressedDepth.png_level` instead of `image.png_level`
- support both ways for now
- emit deprecation warnings on setting through non-transport scoped parameter
- synchronize deprecated changes to new ones
- this is necessary for dynamic reconfigure
- add ROS1 like ranges for parameters (min/max)
- some cleanup
- remove unnecessary includes, using statements, etc.
Default png_level was left the same as for compressed_image_transport
- this is OpenCV default (3)
- the deprecated paramterer name clashes here with compressed_image_transport
- I don't really want to consider if there is a race between plugin loading for default value
- side notes:
- in ROS2 default was 9
- 9 is not usable for real-time processing on most machines
- in ROS1 default is now 1
- 3 is typically usable for real-time processing
- this should probably be made even with ROS1 after removing deprecated parameters
Related to #140
Builds up on #110
(cherry picked from commit dfdf48b)
Co-authored-by: Kenji Brameld <[email protected]> (cherry picked from commit 32e8b81)
Co-authored-by: Kenji Brameld <[email protected]> (cherry picked from commit 136eb45)
Co-authored-by: Kenji Brameld <[email protected]> (cherry picked from commit d500eae)
(cherry picked from commit 9844501)
For: - compressed_depth_image_transport - compressed_image_transport (cherry picked from commit 1e7bad4)
For already declared attributes those reads do nothing (cherry picked from commit b604913)
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