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Declare parameters in topic namespace for subscriber #70

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Declare parameters in topic namespace for subscriber #70

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6d26179
CompressedSubscriber declare_parameter solved
albertarla May 5, 2021
4dd29d4
remove warning useless
iggyrrieta May 6, 2021
c17ad53
Update compressed_subscriber.cpp
iggyrrieta May 6, 2021
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42 changes: 25 additions & 17 deletions compressed_image_transport/src/compressed_subscriber.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,6 +45,7 @@

#include <limits>
#include <vector>
#include <iostream>

constexpr const char* kDefaultMode = "unchanged";

Expand All @@ -67,24 +68,31 @@ void CompressedSubscriber::subscribeImpl(
typedef image_transport::SimpleSubscriberPlugin<CompressedImage> Base;
Base::subscribeImpl(node, base_topic, callback, custom_qos);
std::string mode;
rcl_interfaces::msg::ParameterDescriptor mode_description;
mode_description.name = "mode";
mode_description.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
mode_description.description = "OpenCV imdecode flags to use";
mode_description.read_only = false;
mode_description.additional_constraints = "Supported values: [unchanged, gray, color]";
mode = node->declare_parameter("mode", kDefaultMode, mode_description);

if (mode == "unchanged") {
config_.imdecode_flag = cv::IMREAD_UNCHANGED;
} else if (mode == "gray") {
config_.imdecode_flag = cv::IMREAD_GRAYSCALE;
} else if (mode == "color") {
config_.imdecode_flag = cv::IMREAD_COLOR;
} else {
RCLCPP_ERROR(logger_, "Unknown mode: %s, defaulting to 'unchanged", mode.c_str());
config_.imdecode_flag = cv::IMREAD_UNCHANGED;
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 mode_param_name = param_base_name + ".mode";
if (!node->has_parameter(mode_param_name))
{
rcl_interfaces::msg::ParameterDescriptor mode_description;
mode_description.name = "mode";
mode_description.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
mode_description.description = "OpenCV imdecode flags to use";
mode_description.read_only = false;
mode_description.additional_constraints = "Supported values: [unchanged, gray, color]";
mode = node->declare_parameter(mode_param_name, kDefaultMode, mode_description);
if (mode == "unchanged") {
config_.imdecode_flag = cv::IMREAD_UNCHANGED;
} else if (mode == "gray") {
config_.imdecode_flag = cv::IMREAD_GRAYSCALE;
} else if (mode == "color") {
config_.imdecode_flag = cv::IMREAD_COLOR;
} else {
RCLCPP_ERROR(logger_, "Unknown mode: %s, defaulting to 'unchanged", mode.c_str());
config_.imdecode_flag = cv::IMREAD_UNCHANGED;
}
}

}


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