Changed sensor data publishers to publish with best effor reliability

WisconsinAutonomous · Apr 2, 2023 · 784c641 · 784c641
1 parent 3821990
commit 784c641
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Showing 7 changed files with 9 additions and 7 deletions.
diff --git a/workspace/launch/image_roi_publisher_launch.py b/workspace/launch/image_roi_publisher_launch.py
@@ -13,8 +13,8 @@ def generate_launch_description():
             emulate_tty=True,
             parameters=[
                 {"package_path":    "/home/ros_sandbox/ros_sandbox/workspace/src/image_roi_publisher",
-                 "image_path":      "data/traffic_signs/traffic_sign_array.jpg",                  
-                 "roi_path":        "data/traffic_signs/traffic_sign_array.txt"} 
+                 "image_path":      "data/lane_lines/mcity.jpg",                  
+                 "roi_path":        "data/lane_lines/mcity.txt"} 
             ],
             # remappings=[
             #     ("~/output/image")

diff --git a/...src/image_lidar_roi_publisher/image_lidar_roi_publisher/image_lidar_roi_publisher_node.py b/...src/image_lidar_roi_publisher/image_lidar_roi_publisher/image_lidar_roi_publisher_node.py
@@ -18,9 +18,9 @@ class ImageLidarROIPublisher(Node):
 
     def __init__(self):
         super().__init__('image_lidar_roi_publisher')
-        self.image_publisher = self.create_publisher(sensor_msgs.msg.Image, "~/output/image", 1)
+        self.image_publisher = self.create_publisher(sensor_msgs.msg.Image, "~/output/image", 2)
         self.roi_publisher = self.create_publisher(RoiArray, "~/output/rois", 1)
-        self.pc_publisher = self.create_publisher(sensor_msgs.msg.PointCloud2, "~/output/pts", 1)
+        self.pc_publisher = self.create_publisher(sensor_msgs.msg.PointCloud2, "~/output/pts", 2)
         self.bridge = CvBridge()
 
         timer_period = 0.5  # seconds

diff --git a/workspace/src/image_roi_publisher/data/lane_lines/mcity.jpg b/workspace/src/image_roi_publisher/data/lane_lines/mcity.jpg
diff --git a/workspace/src/image_roi_publisher/data/lane_lines/mcity.txt b/workspace/src/image_roi_publisher/data/lane_lines/mcity.txt
diff --git a/workspace/src/image_roi_publisher/image_roi_publisher/image_roi_publisher_node.py b/workspace/src/image_roi_publisher/image_roi_publisher/image_roi_publisher_node.py
@@ -16,7 +16,9 @@ class ImageROIPublisher(Node):
 
     def __init__(self):
         super().__init__('image_roi_publisher')
-        self.image_publisher = self.create_publisher(Image, "~/output/image", 1)
+        # IMPORTANT: the "2" means that we use "best effort" reliability, which matches sensor data in the real stack
+        # the "1" means that we use "reliable" reliability, which matches ROI messages in the real stack
+        self.image_publisher = self.create_publisher(Image, "~/output/image", 2)
         self.roi_publisher = self.create_publisher(RoiArray, "~/output/rois", 1)
         self.bridge = CvBridge()
 

diff --git a/workspace/src/multi_image_publisher/multi_image_publisher/multi_image_publisher_node.py b/workspace/src/multi_image_publisher/multi_image_publisher/multi_image_publisher_node.py
@@ -31,7 +31,7 @@ def __init__(self):
         self.image_publishers = []
         self.images = []
         for i in range(len(self.image_paths)):
-            self.image_publishers.append(self.create_publisher(Image, self.image_topics[i], 1))
+            self.image_publishers.append(self.create_publisher(Image, self.image_topics[i], 2))
 
             img_path = os.path.join(self.package_path, self.image_paths[i])
             print(img_path)

diff --git a/workspace/src/video_publisher/video_publisher/video_publisher_node.py b/workspace/src/video_publisher/video_publisher/video_publisher_node.py
@@ -16,7 +16,7 @@ class VideoPublisher(Node):
 
     def __init__(self):
         super().__init__('video_publisher')
-        self.image_publisher = self.create_publisher(Image, "~/output/image", 1)
+        self.image_publisher = self.create_publisher(Image, "~/output/image", 2)
         self.bridge = CvBridge()
 
         self.declare_parameter('fps', 10)