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Publish image and camera_info to the same namespace #4511

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@ajordan5 ajordan5 commented May 4, 2022

Fixes: # 1 Now publishes camera_info to the same namespace as the corresponding namespace. For example, for a camera named 'bottom_center', the ros wrapper will publish
.../bottom_center/Scene and .../bottom_center/camera_info

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Previously these topics were published as:
.../bottom_center/Scene and .../bottom_center/Scene/camera_info

Many ros packages expect the camera info to be in the same namespace as the image such as apriltag_ros. In the case of apriltag it cannot find the camera info and will not calculate pose information.

How Has This Been Tested?

I have run the airsim node in my own airsim environment that includes an apriltag on a moving platform. This new publishing format is indeed the format expected by apriltag_ros and correct pose info is calculated. I expect most other ROS interfaces will require the same.

Screenshots (if appropriate):

image
image

@zimmy87
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zimmy87 commented May 19, 2022

It seems that your PR is failing the clang-format check. Please follow these steps to resolve this:

  1. check out your pull request
  2. run git checkout master .clang-format in your repo's root folder
  3. if you don't have npm installed, download it from https://www.npmjs.com/get-npm
  4. run npm install -g clang-format
  5. run clang-format -i path/to/file for each failing file (failing files can be found in the details for the clang-format check)
  6. run git add -u to track all style changes
  7. run git commit -am "apply style from clang-format"
  8. run git merge master
  9. resolve other non-style conflicts if you have any
  10. push changes

Thanks for helping us with these style changes!

@dzywater
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I wanted to use one camera_info for one camera before.

But in settings.json, different image types can be configured different width/height/fov, so respective camera_info may be reasonable.

I don't how to get a good resolution.

@jonyMarino jonyMarino changed the base branch from master to main July 17, 2022 13:21
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4 participants