use newer 'message_filters::Subscriber' constructor API

Author: christian-rauch

orbbec_camera/CMakeLists.txt

@@ -53,6 +53,10 @@ endforeach()
 find_package(PkgConfig REQUIRED)
 find_package(OpenSSL REQUIRED)
 
+if(message_filters_VERSION VERSION_GREATER_EQUAL 5.0)
+    add_compile_definitions(message_filters_QoS)
+endif()
+
 if(USE_RK_HW_DECODER)
     pkg_search_module(RK_MPP REQUIRED rockchip_mpp)
     if(NOT RK_MPP_FOUND)

orbbec_camera/examples/multi_camera_time_sync/image_sync_example_node.cpp

@@ -56,14 +56,20 @@ class ImageSyncNode : public rclcpp::Node {
     rclcpp::QoS qos(rclcpp::KeepLast(10));
     qos.reliable();
 
-    camera_01_color_sub_.subscribe(this, "/camera_01/color/image_raw", qos.get_rmw_qos_profile());
-    camera_01_depth_sub_.subscribe(this, "/camera_01/depth/image_raw", qos.get_rmw_qos_profile());
-    camera_02_color_sub_.subscribe(this, "/camera_02/color/image_raw", qos.get_rmw_qos_profile());
-    camera_02_depth_sub_.subscribe(this, "/camera_02/depth/image_raw", qos.get_rmw_qos_profile());
-    camera_03_color_sub_.subscribe(this, "/camera_03/color/image_raw", qos.get_rmw_qos_profile());
-    camera_03_depth_sub_.subscribe(this, "/camera_03/depth/image_raw", qos.get_rmw_qos_profile());
-    camera_04_color_sub_.subscribe(this, "/camera_04/color/image_raw", qos.get_rmw_qos_profile());
-    camera_04_depth_sub_.subscribe(this, "/camera_04/depth/image_raw", qos.get_rmw_qos_profile());
+#ifdef message_filters_QoS
+    const rclcpp::QoS qos_prof = qos;
+#else
+    const rmw_qos_profile_t qos_prof = qos.get_rmw_qos_profile();
+#endif
+
+    camera_01_color_sub_.subscribe(this, "/camera_01/color/image_raw", qos_prof);
+    camera_01_depth_sub_.subscribe(this, "/camera_01/depth/image_raw", qos_prof);
+    camera_02_color_sub_.subscribe(this, "/camera_02/color/image_raw", qos_prof);
+    camera_02_depth_sub_.subscribe(this, "/camera_02/depth/image_raw", qos_prof);
+    camera_03_color_sub_.subscribe(this, "/camera_03/color/image_raw", qos_prof);
+    camera_03_depth_sub_.subscribe(this, "/camera_03/depth/image_raw", qos_prof);
+    camera_04_color_sub_.subscribe(this, "/camera_04/color/image_raw", qos_prof);
+    camera_04_depth_sub_.subscribe(this, "/camera_04/depth/image_raw", qos_prof);
 
     sync_ =
         std::make_shared<Sync>(SyncPolicy(10), camera_01_color_sub_, camera_01_depth_sub_,

orbbec_camera/src/d2c_viewer.cpp

@@ -30,9 +30,21 @@ D2CViewer::D2CViewer(rclcpp::Node* const node, rmw_qos_profile_t rgb_qos,
                      rmw_qos_profile_t depth_qos, bool use_intra_process)
     : node_(node), logger_(rclcpp::get_logger("d2c_viewer")), is_active_(true) {
   rgb_sub_ = std::make_shared<message_filters::Subscriber<sensor_msgs::msg::Image>>(
-      node_, "color/image_raw", rgb_qos);
+      node_, "color/image_raw",
+#ifdef message_filters_QoS
+      rclcpp::QoS{rclcpp::QoSInitialization::from_rmw(rgb_qos)}
+#else
+      rgb_qos
+#endif
+  );
   depth_sub_ = std::make_shared<message_filters::Subscriber<sensor_msgs::msg::Image>>(
-      node_, "depth/image_raw", depth_qos);
+      node_, "depth/image_raw",
+#ifdef message_filters_QoS
+      rclcpp::QoS{rclcpp::QoSInitialization::from_rmw(depth_qos)}
+#else
+      depth_qos
+#endif
+  );
   sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>(MySyncPolicy(10), *rgb_sub_,
                                                                         *depth_sub_);
   sync_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(1.0));  // 1s