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Add interchangeable qos policies #53

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mrawding wants to merge 4 commits into from
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Add interchangeable qos policies #53

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52f9018
Add interchangeable qos policies
Jun 17, 2021
068acd6
fix mac building
smnogar Jun 29, 2021
279019b
Merge pull request #1 from smnogar/foxy-devel-mac
mrawding Jun 29, 2021
3fc7b51
Update CMakeLists.txt
mrawding Jul 1, 2021
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4 changes: 4 additions & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,10 @@ cmake_minimum_required(VERSION 3.5)

project(rqt_image_view)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic -Wno-deprecated-declarations)
endif()

find_package(ament_cmake REQUIRED)

if(WIN32)
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15 changes: 14 additions & 1 deletion src/rqt_image_view/image_view.cpp
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Expand Up @@ -316,7 +316,20 @@ void ImageView::onTopicChanged(int index)
image_transport::ImageTransport it(node_);
const image_transport::TransportHints hints(node_.get(), transport.toStdString());
try {
subscriber_ = it.subscribe(topic.toStdString(), 1, &ImageView::callbackImage, this, &hints);
std::vector<rclcpp::TopicEndpointInfo> endpoints = node_->get_publishers_info_by_topic(topic.toStdString());
if(endpoints.empty())
{
rclcpp::QoS topic_qos(1);
subscriber_ = image_transport::create_subscription(node_.get(),topic.toStdString(),std::bind(&ImageView::callbackImage,this,std::placeholders::_1),hints.getTransport(),
topic_qos.get_rmw_qos_profile());
}
else
{
rclcpp::QoS topic_qos = endpoints.front().qos_profile();
subscriber_ = image_transport::create_subscription(node_.get(),topic.toStdString(),std::bind(&ImageView::callbackImage,this,std::placeholders::_1),hints.getTransport(),
topic_qos.get_rmw_qos_profile());
}

qDebug("ImageView::onTopicChanged() to topic '%s' with transport '%s'", topic.toStdString().c_str(), subscriber_.getTransport().c_str());
} catch (image_transport::TransportLoadException& e) {
QMessageBox::warning(widget_, tr("Loading image transport plugin failed"), e.what());
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