radial nodes: should all sub to raw topics #906
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mikeferguson
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This was referenced Jan 21, 2024
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ahcorde
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Jan 22, 2024
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This does not need a back port - we're only changing these topics in Jazzy and later (to avoid breaking people) |
Kotochleb
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Per findings in ros-perception#388 (comment) - instead of renaming xyz_radial and xyzi_radial to image_rect, I should have made the xyzrgb_radial use image_raw (since these nodes use matrices K & D): * Revert the change in xyzi_radial - topic is depth/image_raw as it has always been * Revert the change in xyz_radial, although it is still changed slightly from the old "image_raw" -> "depth/image_raw" for consistency with the other nodes. * Update xyzrgb_radial: * depth_registered/image_rect -> depth/image_raw * rgb/image_rect_color -> rgb/image_raw * update launch files accordingly (and remove camera_info since it no longer needs to be renamed, happens automagically). Note: these launch files are probably epically bad since realsense doesn't output radial images... but we'll leave them as documentation for these nodes.
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Per findings in #388 (comment) - instead of renaming xyz_radial and xyzi_radial to image_rect, I should have made the xyzrgb_radial use image_raw (since these nodes use matrices K & D):