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declare param function #7

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Merged
jorgenfj merged 2 commits into from
Sep 14, 2025
Merged

declare param function #7

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0a63b5c
declare param function
jorgenfj Sep 14, 2025
16abfbc
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Sep 14, 2025
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6 changes: 6 additions & 0 deletions image-filtering/include/image_filters/image_filtering_ros.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,12 @@ class ImageFilteringNode : public rclcpp::Node {
*/
void check_and_subscribe_to_image_topic();

/**
* @brief Declare the ros2 parameters used by the node.
*
*/
void declare_parameters();

/**
* @brief Set the filter parameters for the FilterParams struct.
*
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28 changes: 15 additions & 13 deletions image-filtering/src/image_filtering_ros.cpp
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Expand Up @@ -5,6 +5,21 @@ using std::placeholders::_1;

ImageFilteringNode::ImageFilteringNode(const rclcpp::NodeOptions& options)
: Node("image_filtering_node", options) {
declare_parameters();
check_and_subscribe_to_image_topic();
set_filter_params();
initialize_parameter_handler();

rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data;
auto qos_sensor_data = rclcpp::QoS(
rclcpp::QoSInitialization(qos_profile.history, 1), qos_profile);

std::string pub_topic = this->get_parameter("pub_topic").as_string();
image_pub_ = this->create_publisher<sensor_msgs::msg::Image>(
pub_topic, qos_sensor_data);
}

void ImageFilteringNode::declare_parameters() {
this->declare_parameter<std::string>("sub_topic");
this->declare_parameter<std::string>("pub_topic");
this->declare_parameter<std::string>("output_encoding");
Expand All @@ -27,19 +42,6 @@ ImageFilteringNode::ImageFilteringNode(const rclcpp::NodeOptions& options)
this->declare_parameter<double>("filter_params.otsu.gsc_weight_b");
this->declare_parameter<int>("filter_params.otsu.erosion_size");
this->declare_parameter<int>("filter_params.otsu.dilation_size");

rmw_qos_profile_t qos_profile = rmw_qos_profile_sensor_data;
auto qos_sensor_data = rclcpp::QoS(
rclcpp::QoSInitialization(qos_profile.history, 1), qos_profile);

check_and_subscribe_to_image_topic();
set_filter_params();

initialize_parameter_handler();

std::string pub_topic = this->get_parameter("pub_topic").as_string();
image_pub_ = this->create_publisher<sensor_msgs::msg::Image>(
pub_topic, qos_sensor_data);
}

void ImageFilteringNode::set_filter_params() {
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