AMRNAV-4736 support launching as composable node #4
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added 2 commits
May 13, 2023 14:56
jplapp
commented
May 14, 2023
| RCLCPP_ERROR_STREAM(this->get_logger(),"Failed to start IMU"); | ||
| } | ||
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| RCLCPP_INFO(this->get_logger(),"K4A Started"); |
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this logic was in the k4a_ros_bridge_node , which manually created the executor in some main function. This is not supported in composable nodes. So I moved everything here and stopped building that node. In general, the new way should be fine also for launching in non-composable way.
| @@ -40,13 +41,10 @@ find_package(diagnostic_msgs REQUIRED) | |||
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| ## Declare a C++ executable | |||
| add_executable(${PROJECT_NAME}_node | |||
| src/k4a_ros_bridge_node.cpp | |||
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see comment below for reason to remove this
tonynajjar
approved these changes
May 15, 2023
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good point, here it is https://lvserv01.logivations.com/browse/AMRNAV-4745 |
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Support launching as ComposableNode for IPC, and also zero-copy for the pointclouds.
Did not test whether this breaks normal launching, that should still be done before upstreaming
Inspired from realsense repo: