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Possibility to set SensorData QoS for subscribers (image_pipeline/image_rotate) #1123

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Possibility to set SensorData QoS for subscribers (image_pipeline/image_rotate) #1123

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83089e9
added custom_qos param for subscribers
Dec 4, 2025
dff6775
added keep_last
Dec 4, 2025
279e8db
linters
Dec 15, 2025
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1 change: 1 addition & 0 deletions image_rotate/include/image_rotate/image_rotate_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -66,6 +66,7 @@ struct ImageRotateConfig
bool use_camera_info;
double max_angular_rate;
double output_image_size;
std::string custom_qos_type;
};

class ImageRotateNode : public rclcpp::Node
Expand Down
14 changes: 10 additions & 4 deletions image_rotate/src/image_rotate_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -127,6 +127,7 @@ ImageRotateNode::ImageRotateNode(const rclcpp::NodeOptions & options)
config_.use_camera_info = this->declare_parameter("use_camera_info", true);
config_.max_angular_rate = this->declare_parameter("max_angular_rate", 10.0);
config_.output_image_size = this->declare_parameter("output_image_size", 2.0);
config_.custom_qos_type = this->declare_parameter("custom_qos_type", std::string("default"));

// TransportHints does not actually declare the parameter
this->declare_parameter<std::string>("image_transport", "raw");
Expand Down Expand Up @@ -315,9 +316,16 @@ void ImageRotateNode::onInit()
image_transport::TransportHints transport_hint(*this,
"raw");

if (config_.use_camera_info && config_.input_frame_id.empty()) {
auto custom_qos = rclcpp::SystemDefaultsQoS();
auto custom_qos = rclcpp::SystemDefaultsQoS();
if (config_.custom_qos_type == "sensor_data") {
custom_qos = rclcpp::SensorDataQoS();
custom_qos.keep_last(3);
} else if (config_.custom_qos_type == "default") {
custom_qos = rclcpp::SystemDefaultsQoS();
custom_qos.keep_last(3);
}

if (config_.use_camera_info && config_.input_frame_id.empty()) {
cam_sub_ = image_transport::create_camera_subscription(
*this,
topic_name,
Expand All @@ -327,8 +335,6 @@ void ImageRotateNode::onInit()
transport_hint.getTransport(),
custom_qos);
} else {
auto custom_qos = rclcpp::SystemDefaultsQoS();
custom_qos.keep_last(3);
img_sub_ = image_transport::create_subscription(
*this,
topic_name,
Expand Down