Create /imu topic only when motion streams enabled #2849
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| @@ -305,6 +307,11 @@ void BaseRealSenseNode::startPublishers(const std::vector<stream_profile>& profi | |||
| rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(extrinsics_qos), extrinsics_qos), std::move(options)); | |||
| } | |||
| } | |||
| if (_is_accel_enabled && _is_gyro_enabled && (_imu_sync_method > imu_sync_method::NONE)) | |||
| { | |||
| _synced_imu_publisher = std::make_shared<SyncedImuPublisher>(_node.create_publisher<sensor_msgs::msg::Imu>("~/imu", 5)); | |||
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I know this was before, but do you think 5 is fair enough ? or should we use here QoS in the same format as we used in other topics ?
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I think we need to edit this part in the Readme
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SamerKhshiboun
approved these changes
Sep 6, 2023
SamerKhshiboun
merged commit d9e61a9
into
IntelRealSense:ros2-development
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Tracked by RSDEV-550