Fix compressed subscribe impl

compressed_depth_image_transport/include/compressed_depth_image_transport/compressed_depth_publisher.h

@@ -34,7 +34,7 @@
 
 #include <sensor_msgs/msg/image.hpp>
 #include <sensor_msgs/msg/compressed_image.hpp>
-#include "image_transport/simple_publisher_plugin.h"
+#include "image_transport/simple_publisher_plugin.hpp"
 
 namespace compressed_depth_image_transport {
 

compressed_depth_image_transport/include/compressed_depth_image_transport/compressed_depth_subscriber.h

@@ -36,7 +36,7 @@
 #include <rclcpp/node.hpp>
 #include <sensor_msgs/msg/image.hpp>
 #include <sensor_msgs/msg/compressed_image.hpp>
-#include "image_transport/simple_subscriber_plugin.h"
+#include "image_transport/simple_subscriber_plugin.hpp"
 
 namespace compressed_depth_image_transport {
 

compressed_image_transport/include/compressed_image_transport/compressed_subscriber.h

@@ -61,6 +61,16 @@ class CompressedSubscriber : public image_transport::SimpleSubscriberPlugin<sens
       const Callback& callback,
       rmw_qos_profile_t custom_qos) override;
 
+  // Overridden to set up reconfigure server
+  void subscribeImpl(
+      rclcpp::Node * ,
+      const std::string& base_topic,
+      const Callback& callback,
+      rmw_qos_profile_t custom_qos,
+      rclcpp::SubscriptionOptions options) override;
+
+  void subscribeImplCommon(rclcpp::Node *);
+
   void internalCallback(const sensor_msgs::msg::CompressedImage::ConstSharedPtr& message,
                         const Callback& user_cb) override;
 

compressed_image_transport/src/compressed_publisher.cpp

@@ -81,7 +81,7 @@ void CompressedPublisher::advertiseImpl(
   }
   else
   {
-    RCLCPP_WARN(logger_, format_param_name + " was previously delared");
+    RCLCPP_WARN(logger_, "%s was previously delared", format_param_name.c_str());
   }
 
   std::string png_level_param_name = param_base_name + ".png_level";
@@ -101,7 +101,7 @@ void CompressedPublisher::advertiseImpl(
   }
   else
   {
-    RCLCPP_WARN(logger_, png_level_param_name + " was previously delared");
+    RCLCPP_WARN(logger_, "%s was previously delared", png_level_param_name.c_str());
   }
 
   std::string jpeg_quality_param_name = param_base_name + ".jpeg_quality";
@@ -121,7 +121,7 @@ void CompressedPublisher::advertiseImpl(
   }
   else
   {
-    RCLCPP_WARN(logger_, jpeg_quality_param_name + " was previously delared");
+    RCLCPP_WARN(logger_, "%s was previously delared", jpeg_quality_param_name.c_str());
   }
 }
 

compressed_image_transport/src/compressed_subscriber.cpp

@@ -63,28 +63,44 @@ void CompressedSubscriber::subscribeImpl(
     const Callback& callback,
     rmw_qos_profile_t custom_qos)
 {
-    logger_ = node->get_logger();
     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;
-    }
+    subscribeImplCommon(node);
+
+}
+void CompressedSubscriber::subscribeImplCommon(rclcpp::Node * node){
+  logger_ = node->get_logger();
+  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;
+  }
+}
+
+void CompressedSubscriber::subscribeImpl(
+    rclcpp::Node * node,
+    const std::string& base_topic,
+    const Callback& callback,
+    rmw_qos_profile_t custom_qos,
+    rclcpp::SubscriptionOptions options)
+{
+    typedef image_transport::SimpleSubscriberPlugin<CompressedImage> Base;
+    Base::subscribeImplWithOptions(node, base_topic, callback, custom_qos, options);
+    subscribeImplCommon(node);
 }
 
 

theora_image_transport/include/theora_image_transport/theora_publisher.h

@@ -35,7 +35,7 @@
 #include <sensor_msgs/msg/image.hpp>
 #include <sensor_msgs/msg/compressed_image.hpp>
 
-#include <image_transport/simple_publisher_plugin.h>
+#include <image_transport/simple_publisher_plugin.hpp>
 #include <cv_bridge/cv_bridge.h>
 #include <std_msgs/msg/header.hpp>
 #include <theora_image_transport/msg/packet.hpp>

theora_image_transport/include/theora_image_transport/theora_subscriber.h

@@ -32,7 +32,7 @@
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
-#include <image_transport/simple_subscriber_plugin.h>
+#include <image_transport/simple_subscriber_plugin.hpp>
 #include <theora_image_transport/msg/packet.hpp>
 
 #include <theora/codec.h>