add launch for compressed images

rbs_utils/rbs_utils/launch/image_compressed_to_raw.launch.py

@@ -0,0 +1,75 @@
+"""
+    https://github.com/clearpathrobotics/clearpath_robot
+
+# Software License Agreement (BSD)
+#
+# @author    Roni Kreinin <rkreinin@clearpathrobotics.com>
+# @copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Clearpath Robotics nor the names of its contributors
+#   may be used to endorse or promote products derived from this software
+#   without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+"""
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    namespace = LaunchConfiguration('namespace')
+    in_compressed = LaunchConfiguration('in_compressed')
+    out_raw = LaunchConfiguration('out_raw')
+
+    arg_namespace = DeclareLaunchArgument(
+        'namespace',
+        default_value=''
+    )
+
+    arg_in_compressed = DeclareLaunchArgument(
+        'in_compressed',
+        default_value='compressed'
+    )
+
+    arg_out_raw = DeclareLaunchArgument(
+        'out_raw',
+        default_value='image'
+    )
+
+    compressed_transport_node = Node(
+        name='image_compressed_to_raw',
+        namespace=namespace,
+        package='image_transport',
+        executable='republish',
+        remappings=[
+            ('in/compressed', in_compressed),
+            ('out', out_raw),
+        ],
+        arguments=['compressed', 'raw'],
+    )
+
+    ld = LaunchDescription()
+    ld.add_action(arg_namespace)
+    ld.add_action(arg_in_compressed)
+    ld.add_action(arg_out_raw)
+    ld.add_action(compressed_transport_node)
+    return ld

rbs_utils/rbs_utils/launch/image_raw_to_compressed.launch.py

@@ -0,0 +1,76 @@
+"""
+    https://github.com/clearpathrobotics/clearpath_robot
+
+# Software License Agreement (BSD)
+#
+# @author    Roni Kreinin <rkreinin@clearpathrobotics.com>
+# @copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Clearpath Robotics nor the names of its contributors
+#   may be used to endorse or promote products derived from this software
+#   without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+"""
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    namespace = LaunchConfiguration('namespace')
+    in_raw = LaunchConfiguration('in_raw')
+    out_compressed = LaunchConfiguration('out_compressed')
+
+    arg_namespace = DeclareLaunchArgument(
+        'namespace',
+        default_value=''
+    )
+
+    arg_in_raw = DeclareLaunchArgument(
+        'in_raw',
+        default_value='image'
+    )
+
+    arg_out_compressed = DeclareLaunchArgument(
+        'out_compressed',
+        default_value='compressed'
+    )
+
+    compressed_transport_node = Node(
+        name='image_raw_to_compressed',
+        namespace=namespace,
+        package='image_transport',
+        executable='republish',
+        remappings=[
+            ('in', in_raw),
+            ('out/compressed', out_compressed),
+        ],
+        arguments=['raw', 'compressed'],
+    )
+
+    ld = LaunchDescription()
+    ld.add_action(arg_namespace)
+    ld.add_action(arg_in_raw)
+    ld.add_action(arg_out_compressed)
+    ld.add_action(compressed_transport_node)
+    return ld

rbs_utils/rbs_utils/package.xml

@@ -22,6 +22,7 @@
   <depend>sensor_msgs</depend>
   <depend>nlohmann-json-dev</depend>
   <depend>rosbag2_cpp</depend>
+  <depend>image_transport</depend>
   
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>