Customize set_camera_info service URL? about image_common HOT 8 CLOSED

I see what you mean. So it's actually correct the way it is, exposing the service at /set_camera_info, because all I need to do is launch the node inside a "camera" namespace to make it appear as "/camera/set_camera_info", and I should remove the hard-coded "/camera" so the other publishers will work the same way.

from image_common.

The CameraInfoManager constructor advertises set_camera_info service in the namespace of whatever node handle you pass it.

Is the raspicam node already running in a /camera namespace?

from image_common.

I believe so, and rostopic list shows it exposes /camera/image, but I only see /set_camera_info.

Is there a sequence when CameraInfoManager should be initialized? The node is currently doing right after ros::init() as shown here. Is that too early?

I've forked the code and have fixed a few minor bugs, so if this isn't the correct initialization, I could fix it.

from image_common.

Sounds like you're not running in the /camera namespace, just advertising the topic with a relative topic name.

If you want things to be in the /camera namespace, you should probably define a camera node handle, like in this example. Use that for both the topics and the camera info service.

from image_common.

I see. I'll try updating the code following that example. Thanks.

from image_common.

Note that the example given does not follow the recommendations of REP-0135, which recommends not using the "camera" sub-namespace, but rather launching the driver in whatever namespace seems appropriate for that specific device.

I chose not to modify camera1394 when that REP was adopted, because it already had many users and I didn't want to confuse them. Making that change in a backwards-compatible way seemed difficult.

I would recommend using the root namespace, in your case.

from image_common.

What do you mean by root namespace? As in "/"? Shouldn't I use something like "raspicam"?

from image_common.

No, the ROS root namespace is /. Using raspicam makes the data specific to that one driver. The general interface is /image_raw, which works with any camera. not just yours.

from image_common.