republisher.yaml

# Copyright (c) 2024-2025, Personal Robotics Laboratory
# License: BSD 3-Clause. See LICENSE.md file in root directory.

# NOTE: You have to change this node name if you change the node name in the launchfile.
republisher:
  ros__parameters:
    # The name of the topics to republish from
    from_topics:
      - /local/camera/aligned_depth_to_color/image_raw/compressedDepth

    # The types of topics to republish from
    in_topic_types:
      - sensor_msgs.msg.CompressedImage

    # If the republisher should convert types, specify the output type.
    # Currently, the republisher only supports conversions from
    # Image->CompressedImage and vice-versa.
    out_topic_types:
      - sensor_msgs.msg.Image

    # The name of the topics to republish to. NOTE: the `prefix` in the launchfile
    # must match the below pattern!
    to_topics:
      - /local/camera/aligned_depth_to_color/depth_octomap

    # The target rates (Hz) for the republished topics. Rates <= 0 will publish
    # every message.
    target_rates:
      - 0

    # The names of a post-processing functions to apply to the message before
    # republishing it. Current options are:
    #  - temporal: Stores the last `temporal_window_size` images and publishes
    #    the last image, masking out pixels that are zero in *any* of the images
    #    in the window.
    #  - spatial: Applies the opening morphological operation to the mask of
    #    (non-)zero pixels in the image, with a square kernel of size `spatial_num_pixels`.
    #  - mask: Applies the mask stored in `mask_relative_path` to the image.
    #  - threshold: Masks out pixels whose values are outside of the specified
    #    range. This is intended to be used only with single-channel (e.g., depth) images.
    # Any of these post-processing functions can be combined in a comma-separated list.
    # If an empty string, no post-processors are applied.
    post_processors:
      - threshold,mask,temporal,spatial # Apply filters to the depth image for the Octomap
    # The binary mask used for "mask" post-processing. This mask will get scaled,
    # possibly disproportionately, to the same of the image.
    mask_relative_path: model/fork_handle_mask.png
    # The size of the temporal window for the "temporal" post-processor.
    temporal_window_size: 5
    # The size of the square kernel for the "spatial" post-processor.
    spatial_num_pixels: 10
    # The min/max pixel value to be included in the threshold. For depth images, the units are mm.
    threshold_min: 350
    threshold_max: 2500