Fix SimpleSubscriberPlugin

image_transport/include/image_transport/raw_subscriber.hpp

@@ -53,21 +53,32 @@ class RawSubscriber : public SimpleSubscriberPlugin<sensor_msgs::msg::Image>
 public:
   virtual ~RawSubscriber() {}
 
-  virtual std::string getTransportName() const
+  std::string getTransportName() const override
   {
     return "raw";
   }
 
 protected:
-  virtual void internalCallback(const std::shared_ptr<const sensor_msgs::msg::Image>& message, const Callback& user_cb)
+  void internalCallback(
+    const std::shared_ptr<const sensor_msgs::msg::Image>& message, const Callback& user_cb) override
   {
     user_cb(message);
   }
 
-  virtual std::string getTopicToSubscribe(const std::string& base_topic) const
+  std::string getTopicToSubscribe(const std::string& base_topic) const override
   {
     return base_topic;
   }
+
+  void subscribeImpl(
+    rclcpp::Node * node,
+    const std::string & base_topic,
+    const Callback & callback,
+    rmw_qos_profile_t custom_qos,
+    rclcpp::SubscriptionOptions options) override
+  {
+    this->subscribeImplWithOptions(node, base_topic, callback, custom_qos, options);
+  }
 };
 
 }  // namespace image_transport

image_transport/include/image_transport/simple_subscriber_plugin.hpp

@@ -112,21 +112,29 @@ class SimpleSubscriberPlugin : public SubscriberPlugin
     return base_topic + "/" + getTransportName();
   }
 
-  virtual void subscribeImpl(
+  void subscribeImpl(
     rclcpp::Node * node,
     const std::string & base_topic,
     const Callback & callback,
     rmw_qos_profile_t custom_qos) override
   {
-    this->subscribeImpl(node, base_topic, callback, custom_qos, rclcpp::SubscriptionOptions());
+    impl_ = std::make_unique<Impl>();
+    // Push each group of transport-specific parameters into a separate sub-namespace
+    //ros::NodeHandle param_nh(transport_hints.getParameterNH(), getTransportName());
+    //
+    auto qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(custom_qos), custom_qos);
+    impl_->sub_ = node->create_subscription<M>(getTopicToSubscribe(base_topic), qos,
+        [this, callback](const typename std::shared_ptr<const M> msg){
+          internalCallback(msg, callback);
+        });
   }
 
-  void subscribeImpl(
+  void subscribeImplWithOptions(
     rclcpp::Node * node,
     const std::string & base_topic,
     const Callback & callback,
     rmw_qos_profile_t custom_qos,
-    rclcpp::SubscriptionOptions options) override
+    rclcpp::SubscriptionOptions options)
   {
     impl_ = std::make_unique<Impl>();
     // Push each group of transport-specific parameters into a separate sub-namespace
@@ -136,7 +144,8 @@ class SimpleSubscriberPlugin : public SubscriberPlugin
     impl_->sub_ = node->create_subscription<M>(getTopicToSubscribe(base_topic), qos,
         [this, callback](const typename std::shared_ptr<const M> msg){
           internalCallback(msg, callback);
-        }, options);
+        },
+        options);
   }
 
 private:
@@ -146,9 +155,6 @@ class SimpleSubscriberPlugin : public SubscriberPlugin
   };
 
   std::unique_ptr<Impl> impl_;
-
-
-
 };
 
 }  // namespace image_transport

image_transport/include/image_transport/subscriber_plugin.hpp

@@ -164,7 +164,7 @@ class IMAGE_TRANSPORT_PUBLIC SubscriberPlugin
       node->get_logger(),
       "SubscriberPlugin::subscribeImpl with five arguments has not been overridden");
     this->subscribeImpl(node, base_topic, callback, custom_qos);
-    }
+  }
 };
 
 }  // namespace image_transport

image_transport/tutorial/include/image_transport_tutorial/resized_subscriber.hpp

@@ -11,6 +11,15 @@ class ResizedSubscriber : public image_transport::SimpleSubscriberPlugin<image_t
     return "resized";
   }
 
+  void subscribeImpl(
+    rclcpp::Node * node,
+    const std::string & base_topic,
+    const Callback & callback,
+    rmw_qos_profile_t custom_qos,
+    rclcpp::SubscriptionOptions options) override
+  {
+    this->subscribeImplWithOptions(node, base_topic, callback, custom_qos, options);
+  }
 protected:
   virtual void internalCallback(const typename image_transport_tutorial::ResizedImage::ConstPtr& message,
                                 const Callback& user_cb);