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Declare parameters in topic namespace #58

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merged 2 commits into from
Apr 16, 2021
Merged

Declare parameters in topic namespace #58

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44ba6e6
Declare parameters in topic namespace
lukaszmitka May 10, 2020
5f6cbf8
Fix parameter namespace format
lukaszmitka Jun 16, 2020
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89 changes: 58 additions & 31 deletions compressed_image_transport/src/compressed_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -65,37 +65,64 @@ void CompressedPublisher::advertiseImpl(
typedef image_transport::SimplePublisherPlugin<sensor_msgs::msg::CompressedImage> Base;
Base::advertiseImpl(node, base_topic, custom_qos);

rcl_interfaces::msg::ParameterDescriptor format_description;
format_description.name = "format";
format_description.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
format_description.description = "Compression method";
format_description.read_only = false;
format_description.additional_constraints = "Supported values: [jpeg, png]";
config_.format = node->declare_parameter("format", kDefaultFormat, format_description);

rcl_interfaces::msg::ParameterDescriptor png_level_description;
png_level_description.name = "png_level";
png_level_description.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
png_level_description.description = "Compression level for PNG format";
png_level_description.read_only = false;
rcl_interfaces::msg::IntegerRange png_range;
png_range.from_value = 0;
png_range.to_value = 9;
png_range.step = 1;
png_level_description.integer_range.push_back(png_range);
config_.png_level = node->declare_parameter("png_level", kDefaultPngLevel, png_level_description);

rcl_interfaces::msg::ParameterDescriptor jpeg_quality_description;
jpeg_quality_description.name = "jpeg_quality";
jpeg_quality_description.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
jpeg_quality_description.description = "Image quality for JPEG format";
jpeg_quality_description.read_only = false;
rcl_interfaces::msg::IntegerRange jpeg_range;
jpeg_range.from_value = 1;
jpeg_range.to_value = 100;
jpeg_range.step = 1;
jpeg_quality_description.integer_range.push_back(jpeg_range);
config_.jpeg_quality = node->declare_parameter("jpeg_quality", kDefaultJpegQuality, jpeg_quality_description);
uint ns_len = node->get_effective_namespace().length();
std::string param_base_name = base_topic.substr(ns_len);
std::replace(param_base_name.begin(), param_base_name.end(), '/', '.');
std::string format_param_name = param_base_name + ".format";
if (!node->has_parameter(format_param_name))
{
rcl_interfaces::msg::ParameterDescriptor format_description;
format_description.name = "format";
format_description.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
format_description.description = "Compression method";
format_description.read_only = false;
format_description.additional_constraints = "Supported values: [jpeg, png]";
config_.format = node->declare_parameter(format_param_name, kDefaultFormat, format_description);
}
else
{
RCLCPP_WARN(logger_, format_param_name + " was previously delared");
}

std::string png_level_param_name = param_base_name + ".png_level";
if (!node->has_parameter(png_level_param_name))
{
rcl_interfaces::msg::ParameterDescriptor png_level_description;
png_level_description.name = "png_level";
png_level_description.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
png_level_description.description = "Compression level for PNG format";
png_level_description.read_only = false;
rcl_interfaces::msg::IntegerRange png_range;
png_range.from_value = 0;
png_range.to_value = 9;
png_range.step = 1;
png_level_description.integer_range.push_back(png_range);
config_.png_level = node->declare_parameter(png_level_param_name, kDefaultPngLevel, png_level_description);
}
else
{
RCLCPP_WARN(logger_, png_level_param_name + " was previously delared");
}

std::string jpeg_quality_param_name = param_base_name + ".jpeg_quality";
if (!node->has_parameter(jpeg_quality_param_name))
{
rcl_interfaces::msg::ParameterDescriptor jpeg_quality_description;
jpeg_quality_description.name = "jpeg_quality";
jpeg_quality_description.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
jpeg_quality_description.description = "Image quality for JPEG format";
jpeg_quality_description.read_only = false;
rcl_interfaces::msg::IntegerRange jpeg_range;
jpeg_range.from_value = 1;
jpeg_range.to_value = 100;
jpeg_range.step = 1;
jpeg_quality_description.integer_range.push_back(jpeg_range);
config_.jpeg_quality = node->declare_parameter(jpeg_quality_param_name, kDefaultJpegQuality, jpeg_quality_description);
}
else
{
RCLCPP_WARN(logger_, jpeg_quality_param_name + " was previously delared");
}
}

void CompressedPublisher::publish(
Expand Down