📦 Backported intra-process optimization to foxy_devel branch. Verifie…

…d within docker implement.

Signed-off-by: Bey Hao Yun <[email protected]>

include/virtual_camera/image_viewer.hpp

@@ -57,7 +57,9 @@ ImageViewer::ImageViewer()
 : Node("image_viewer")
 {
   cv::namedWindow("image_viewer", cv::WINDOW_AUTOSIZE);
-  cv::moveWindow("image_viewer", 0, 375);
+  int x_position = 0;
+  int y_position = 0;
+  cv::moveWindow("image_viewer", x_position, y_position);
   cv::waitKey(1);
 
   size_t depth_ = rmw_qos_profile_default.depth;
@@ -69,7 +71,7 @@ ImageViewer::ImageViewer()
   qos.reliability(reliability_policy_);
 
   sub_1_ = this->create_subscription<sensor_msgs::msg::Image>(
-    "/image_viewer/image_input",
+    "/virtual_camera/image_raw",
     qos, std::bind(&ImageViewer::image_callback, this, std::placeholders::_1));
 }
 

launch/showimageraw.launch.py

@@ -13,21 +13,29 @@
 # limitations under the License.
 
 from launch import LaunchDescription
-import launch_ros.actions
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
 
 
 def generate_launch_description():
-    return LaunchDescription([
-        launch_ros.actions.Node(
+
+    imageviewer_flag_param = DeclareLaunchArgument(
+        'use_image_viewer',
+        default_value='false',
+        description='Set use_image_viewer [yes/no]'
+    )
+
+    vcam_node = Node(
             package='virtual_camera',
             executable='virtual_camera',
             output='screen',
-            ),
-        launch_ros.actions.Node(
-            package='virtual_camera',
-            executable='image_viewer',
-            output='log',
-            remappings=[('/image_viewer/image_input', '/virtual_camera/image_raw')]
-            ),
+            parameters=[{
+                'use_image_viewer': LaunchConfiguration('use_image_viewer')
+            }]
+            )
 
-    ])
+    return LaunchDescription([
+        imageviewer_flag_param,
+        vcam_node
+    ])

scripts/show_image.bash

@@ -2,4 +2,4 @@
 
 source /opt/ros/foxy/setup.bash
 source install/setup.bash
-ros2 launch virtual_camera showimageraw.launch.py
+ros2 launch virtual_camera showimageraw.launch.py use_image_viewer:=true

src/virtual_camera.cpp

@@ -14,12 +14,47 @@
 
 #include <memory>
 #include "virtual_camera/virtual_camera.hpp"
-
+#include "virtual_camera/image_viewer.hpp"
 
 int main(int argc, char * argv[])
 {
   rclcpp::init(argc, argv);
-  rclcpp::spin(std::make_shared<VirtualCamera>());
+
+  rclcpp::executors::SingleThreadedExecutor executor;
+
+  // Connect the nodes as a pipeline: vcamera_node -> image_view_node
+  // Instantiate VirtualCamera ROS 2 node.
+  std::shared_ptr<VirtualCamera> vcamera_node = nullptr;
+  try {
+    vcamera_node = std::make_shared<VirtualCamera>();
+  } catch (const std::exception & e) {
+    fprintf(stderr, "%s Exiting ..\n", e.what());
+    return 1;
+  }
+
+  // Declare a boolean parameter
+  vcamera_node->declare_parameter("use_image_viewer", false);
+
+  // Get the boolean parameter value to determine
+  // if the image_view_node should be activated.
+  bool imageviewer_flag = vcamera_node->get_parameter("use_image_viewer").as_bool();
+  RCLCPP_INFO(
+    vcamera_node->get_logger(), "use_image_viewer set to: [%s]",
+    imageviewer_flag ? "true" : "false");
+
+  // Instantiate ImageViewer ROS 2 node.
+  auto image_view_node = std::make_shared<ImageViewer>();
+  // Add VirtualCamera ROS 2 node to intra-process executor
+  executor.add_node(vcamera_node);
+
+  // If use_image_viewer ROS 2 parameter is set to true,
+  // add ImageViewer ROS 2 node to intra-process executor.
+  if (imageviewer_flag) {
+    executor.add_node(image_view_node);
+  }
+
+  executor.spin();
+
   rclcpp::shutdown();
   return 0;
 }