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Declare depth compression params in a per-topic namespace #110

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Declare depth compression params in a per-topic namespace #110

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52 changes: 49 additions & 3 deletions compressed_depth_image_transport/src/compressed_depth_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -66,9 +66,55 @@ void CompressedDepthPublisher::advertiseImpl(
typedef image_transport::SimplePublisherPlugin<sensor_msgs::msg::CompressedImage> Base;
Base::advertiseImpl(node, base_topic, custom_qos, options);

node->get_parameter_or<int>("png_level", config_.png_level, kDefaultPngLevel);
node->get_parameter_or<double>("depth_max", config_.depth_max, kDefaultDepthMax);
node->get_parameter_or<double>("depth_quantization", config_.depth_max, KDefaultDepthQuantization);
uint ns_len = node->get_effective_namespace().length();
std::string param_base_name = base_topic.substr(ns_len);
std::replace(param_base_name.begin(), param_base_name.end(), '/', '.');

{
std::string param_name = param_base_name + ".png_level";
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.name = "png_level";
descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
descriptor.description = "PNG compression level";
descriptor.read_only = false;
try {
config_.png_level = node->declare_parameter(param_name, kDefaultPngLevel, descriptor);
} catch (const rclcpp::exceptions::ParameterAlreadyDeclaredException &) {
RCLCPP_DEBUG(node->get_logger(), "%s was previously declared", param_name.c_str());
config_.png_level = node->get_parameter(param_name).get_value<double>();
}
}

{
std::string param_name = param_base_name + ".depth_max";
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.name = "depth_max";
descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
descriptor.description = "Maximum depth value";
descriptor.read_only = false;
try {
config_.depth_max = node->declare_parameter(param_name, kDefaultDepthMax, descriptor);
} catch (const rclcpp::exceptions::ParameterAlreadyDeclaredException &) {
RCLCPP_DEBUG(node->get_logger(), "%s was previously declared", param_name.c_str());
config_.depth_max = node->get_parameter(param_name).get_value<double>();
}
}

{
std::string param_name = param_base_name + ".depth_quantization";
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.name = "depth_quantization";
descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
descriptor.description = "Depth quantization";
descriptor.read_only = false;
try {
config_.depth_quantization = node->declare_parameter(
param_name, KDefaultDepthQuantization, descriptor);
} catch (const rclcpp::exceptions::ParameterAlreadyDeclaredException &) {
RCLCPP_DEBUG(node->get_logger(), "%s was previously declared", param_name.c_str());
config_.depth_quantization = node->get_parameter(param_name).get_value<double>();
}
}
}

void CompressedDepthPublisher::publish(
Expand Down