Add remaps for additional image transports

Author: hilary-luo

clearpath_sensors/launch/axis_camera.launch.py

@@ -65,6 +65,11 @@ def generate_launch_description():
         output='screen',
         remappings=[
             ('image_raw/compressed', 'color/image/compressed'),
+            ('image_raw/compressedDepth', 'color/image/compressedDepth'),
+            ('image_raw/theora', 'color/image/theora'),
+            ('image_raw/ffmpeg', 'color/image/ffmpeg'),
+            ('image_raw/ztsd', 'color/image/ztsd'),
+            ('image_raw/foxglove', 'color/image/foxglove'),
             ('camera_info', 'color/camera_info'),
             ('joint_states',
                 PathJoinSubstitution(['/', robot_namespace, 'platform', 'joint_states'])),

clearpath_sensors/launch/flir_blackfly.launch.py

@@ -76,6 +76,8 @@ def generate_launch_description():
                 (name + '/image_raw/compressedDepth', 'raw/compressedDepth'),
                 (name + '/image_raw/theora', 'raw/theora'),
                 (name + '/image_raw/ffmpeg', 'raw/ffmpeg'),
+                (name + '/image_raw/ztsd', 'raw/ztsd'),
+                (name + '/image_raw/foxglove', 'raw/foxglove'),
             ],
             extra_arguments=[{'use_intra_process_comms': True}],
         ),
@@ -91,12 +93,16 @@ def generate_launch_description():
                 ('image_color/compressed', 'color/compressed'),
                 ('image_color/compressedDepth', 'color/compressedDepth'),
                 ('image_color/theora', 'color/theora'),
+                ('image_color/ffmpeg', 'color/ffmpeg'),
+                ('image_color/ztsd', 'color/ztsd'),
+                ('image_color/foxglove', 'color/foxglove'),
                 ('image_mono', 'mono/image'),
                 ('image_mono/compressed', 'mono/compressed'),
                 ('image_mono/compressedDepth', 'mono/compressedDepth'),
                 ('image_mono/theora', 'mono/theora'),
-                ('image_color/ffmpeg', 'color/ffmpeg'),
                 ('image_mono/ffmpeg', 'mono/ffmpeg'),
+                ('image_mono/ztsd', 'mono/ztsd'),
+                ('image_mono/foxglove', 'mono/foxglove'),
             ],
             extra_arguments=[{'use_intra_process_comms': True}],
         ),

clearpath_sensors/launch/intel_realsense.launch.py

@@ -52,6 +52,15 @@
     'metadata',
 ]
 
+TRANSPORTS = [
+    'compressed',
+    'compressedDepth',
+    'theora',
+    'ffmpeg',
+    'ztsd',
+    'foxglove',
+]
+
 OTHERS = [
     'rgbd',
     'extrinsics/depth_to_color',
@@ -88,12 +97,13 @@ def generate_launch_description():
 
     for camera in CAMERAS:
         for image in IMAGES:
-            remappings.extend([
+            remappings.append(
                 (f'~/{camera}/{image}', f'{camera}/image'),
-                (f'~/{camera}/{image}/compressed', f'{camera}/compressed'),
-                (f'~/{camera}/{image}/compressedDepth', f'{camera}/compressedDepth'),
-                (f'~/{camera}/{image}/theora', f'{camera}/theora'),
-            ])
+            )
+            for transport in TRANSPORTS:
+                remappings.append(
+                    (f'~/{camera}/{image}/{transport}', f'{camera}/{transport}')
+                )
         for topic in TOPICS:
             remappings.append(
                 (f'~/{camera}/{topic}', f'{camera}/{topic}')

clearpath_sensors/launch/luxonis_oakd.launch.py

@@ -35,41 +35,47 @@
 from launch_ros.descriptions import ComposableNode
 from launch_ros.substitutions import FindPackageShare
 
+TRANSPORTS = [
+    'compressed',
+    'compressedDepth',
+    'theora',
+    'ffmpeg',
+    'ztsd',
+    'foxglove',
+]
+
 
 def launch_setup(context):
     parameters = LaunchConfiguration('parameters')
     namespace = LaunchConfiguration('namespace')
 
     name = os.path.basename(namespace.perform(context))
 
-    depthai_oakd_node = ComposableNode(
-        package='depthai_ros_driver',
-        name=name,
-        namespace=namespace,
-        plugin='depthai_ros_driver::Camera',
-        parameters=[parameters],
-        remappings=[
+    remappings = [
             ('~/imu/data', 'imu/data'),
             ('~/nn/spatial_detections', 'nn/spatial_detections'),
             ('~/rgb/camera_info', 'color/camera_info'),
             ('~/rgb/image_raw', 'color/image'),
-            ('~/rgb/image_raw/compressed', 'color/compressed'),
-            ('~/rgb/image_raw/compressedDepth', 'color/compressedDepth'),
-            ('~/rgb/image_raw/ffmpeg', 'color/ffmpeg'),
-            ('~/rgb/image_raw/theora', 'color/theora'),
             ('~/rgb/preview/image_raw', 'color/image'),
-            ('~/rgb/preview/image_raw/compressed', 'color/compressed'),
-            ('~/rgb/preview/image_raw/compressedDepth', 'color/compressedDepth'),
-            ('~/rgb/preview/image_raw/ffmpeg', 'color/ffmpeg'),
-            ('~/rgb/preview/image_raw/theora', 'color/theora'),
             ('~/stereo/camera_info', 'stereo/camera_info'),
             ('~/stereo/image_raw', 'stereo/image'),
-            ('~/stereo/image_raw/compressed', 'stereo/compressed'),
-            ('~/stereo/image_raw/compressedDepth', 'stereo/compressedDepth'),
-            ('~/stereo/image_raw/ffmpeg', 'stereo/ffmpeg'),
-            ('~/stereo/image_raw/theora', 'stereo/theora'),
             ('/diagnostics', 'diagnostics'),
-        ],
+    ]
+
+    for transport in TRANSPORTS:
+        remappings.extend([
+            (f'~/rgb/image_raw/{transport}', f'color/{transport}'),
+            (f'~/rgb/preview/image_raw/{transport}', f'color/{transport}'),
+            (f'~/stereo/image_raw/{transport}', f'stereo/{transport}')
+        ])
+
+    depthai_oakd_node = ComposableNode(
+        package='depthai_ros_driver',
+        name=name,
+        namespace=namespace,
+        plugin='depthai_ros_driver::Camera',
+        parameters=[parameters],
+        remappings=remappings,
         extra_arguments=[{'use_intra_process_comms': True}],
     )
 

clearpath_sensors/launch/stereolabs_zed.launch.py

@@ -65,6 +65,15 @@
     ('stereo_raw', 'stereo/raw')
 ]
 
+TRANSPORTS = [
+    'compressed',
+    'compressedDepth',
+    'theora',
+    'ffmpeg',
+    'ztsd',
+    'foxglove',
+]
+
 OTHERS = [
     'temperature/imu',
     'temperature/left',
@@ -129,13 +138,12 @@ def generate_launch_description():
                 PathJoinSubstitution(['/', namespace, new, 'camera_info'])),
             ('~/%s/%s' % (old, image),
                 PathJoinSubstitution(['/', namespace, new, 'image'])),
-            ('~/%s/%s/compressed' % (old, image),
-                PathJoinSubstitution(['/', namespace, new, 'compressed'])),
-            ('~/%s/%s/compressedDepth' % (old, image),
-                PathJoinSubstitution(['/', namespace, new, 'compressedDepth'])),
-            ('~/%s/%s/theora' % (old, image),
-                PathJoinSubstitution(['/', namespace, new, 'theora'])),
         ])
+        for transport in TRANSPORTS:
+            remappings.append(
+                ('~/%s/%s/%s' % (old, image, transport),
+                    PathJoinSubstitution(['/', namespace, new, transport])),
+            )
 
     # Others
     for topic in OTHERS: