camera_info should be published if it is subscribed

Create issue
Issue #31 closed
Ryohei Ueda created an issue

camera_info is published only if corresponding image is subscribed.

but sometimes, for example right/image_rect/camera_info is subscribed without subscribing images when we want to use stereo_image_proc.

Comments (2)

  1. Matt Alvarado

    Hi Ryohei,

    I understand the issue you are having with the stereo_image_proc pointcloud2 nodelet, but I do not believe there is a good way it can be solved in the current MultiSense ROS driver. Camera info messages are all published initially on startup, and on subsequent resolution changes, via latched publishers. A possible solution could be to write a simple node which subscribes to the right and left camera_info topics and republishes the right camera_info topic every time a left camera_info topic is received. Using this method you can ensure the timestamps for both camera_info messages match, and you will avoid having to create a subscription to a right image topic.

    Thanks, Matt Alvarado Engineer Carnegie Robotics

  2. Log in to comment