Fix for jazzy

CMakeLists.txt

@@ -46,8 +46,8 @@ add_executable(${PROJECT_NAME}_node
   src/k4a_calibration_transform_data.cpp
   )
 
-ament_target_dependencies(${PROJECT_NAME}_node rclcpp 
-  std_msgs 
+ament_target_dependencies(${PROJECT_NAME}_node rclcpp
+  std_msgs
   sensor_msgs
   visualization_msgs
   image_transport
@@ -114,9 +114,6 @@ target_link_libraries(${PROJECT_NAME}_node
 
 ## Mark executables and/or libraries for installation
 install(TARGETS ${PROJECT_NAME}_node
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION bin
   DESTINATION lib/${PROJECT_NAME}
 )
 
@@ -128,4 +125,4 @@ install(
   DESTINATION share/${PROJECT_NAME}/
 )
 
-ament_package()
+ament_package()

include/azure_kinect_ros_driver/k4a_calibration_transform_data.h

@@ -49,9 +49,9 @@ class K4ACalibrationTransformData : public rclcpp::Node
   k4a::image transformed_depth_image_;
 
   std::string tf_prefix_ = "";
-  std::string camera_base_frame_ = "camera_base";
-  std::string rgb_camera_frame_ = "rgb_camera_link";
-  std::string depth_camera_frame_ = "depth_camera_link";
+  std::string camera_base_frame_ = "base";
+  std::string rgb_camera_frame_ = "rgb_optical_frame";
+  std::string depth_camera_frame_ = "depth_optical_frame";
   std::string imu_frame_ = "imu_link";
 
 private:

include/azure_kinect_ros_driver/k4a_ros_device_params.h

@@ -80,7 +80,10 @@
               int, 0)                                                                                                  \
   LIST_ENTRY(subordinate_delay_off_master_usec,                                                                        \
               "Delay subordinate camera off master camera by specified amount in usec.",                               \
-              int, 0)
+              int, 0)                                                                                                  \
+  LIST_ENTRY(rgb_namespace,                                                                                            \
+              "The namespace of RGB topics",                                                                           \
+              std::string, std::string("rgb"))
 
 class K4AROSDeviceParams : public rclcpp::Node
 {

src/k4a_ros_device.cpp

@@ -14,7 +14,7 @@
 // Library headers
 //
 #include <angles/angles.h>
-#include <cv_bridge/cv_bridge.h>
+#include <cv_bridge/cv_bridge.hpp>
 #include <k4a/k4a.h>
 #include <sensor_msgs/distortion_models.hpp>
 #include <sensor_msgs/image_encodings.hpp>
@@ -77,6 +77,8 @@ K4AROSDevice::K4AROSDevice()
   this->declare_parameter("imu_rate_target", rclcpp::ParameterValue(0));
   this->declare_parameter("wired_sync_mode", rclcpp::ParameterValue(0));
   this->declare_parameter("subordinate_delay_off_master_usec", rclcpp::ParameterValue(0));
+  this->declare_parameter("tf_prefix", rclcpp::ParameterValue(""));
+  this->declare_parameter("rgb_namespace", rclcpp::ParameterValue("rgb"));
 
   // Collect ROS parameters from the param server or from the command line
 #define LIST_ENTRY(param_variable, param_help_string, param_type, param_default_val) \
@@ -243,13 +245,13 @@ K4AROSDevice::K4AROSDevice()
     // others can subscribe to 'rgb/image_raw' with compressed_image_transport.
     // This technique is described in:
     // http://wiki.ros.org/compressed_image_transport#Publishing_compressed_images_directly
-    rgb_jpeg_publisher_ = this->create_publisher<CompressedImage>("rgb/image_raw/compressed", 1);
+    rgb_jpeg_publisher_ = this->create_publisher<CompressedImage>(params_.rgb_namespace + "/image_raw/compressed", 1);
   }
   else if (params_.color_format == "bgra")
   {
-    rgb_raw_publisher_ = image_transport_->advertise("rgb/image_raw", 1, true);
+    rgb_raw_publisher_ = image_transport_->advertise(params_.rgb_namespace + "/image_raw", 1, true);
   }
-  rgb_raw_camerainfo_publisher_ = this->create_publisher<CameraInfo>("rgb/camera_info", 1);
+  rgb_raw_camerainfo_publisher_ = this->create_publisher<CameraInfo>(params_.rgb_namespace + "/camera_info", 1);
 
   depth_raw_publisher_ = image_transport_->advertise("depth/image_raw", 1, true);
   depth_raw_camerainfo_publisher_ = this->create_publisher<CameraInfo>("depth/camera_info", 1);
@@ -1053,7 +1055,8 @@ void K4AROSDevice::framePublisherThread()
       // Recordings may not have synchronized captures. For unsynchronized captures without color image skip rgb frame.
       if (params_.color_format == "jpeg")
       {
-        if ((this->count_subscribers("rgb/image_raw/compressed") > 0 || this->count_subscribers("rgb/camera_info") > 0) &&
+        if ((this->count_subscribers(params_.rgb_namespace + "/image_raw/compressed") > 0 ||
+             this->count_subscribers(params_.rgb_namespace + "/camera_info") > 0) &&
             (k4a_device_ || capture.get_color_image() != nullptr))
         {
           result = getJpegRgbFrame(capture, rgb_jpeg_frame);
@@ -1078,7 +1081,8 @@ void K4AROSDevice::framePublisherThread()
       }
       else if (params_.color_format == "bgra")
       {
-        if ((this->count_subscribers("rgb/image_raw") > 0 || this->count_subscribers("rgb/camera_info") > 0) &&
+        if ((this->count_subscribers(params_.rgb_namespace + "/image_raw") > 0 ||
+             this->count_subscribers(params_.rgb_namespace + "/camera_info") > 0) &&
             (k4a_device_ || capture.get_color_image() != nullptr))
         {
           result = getRbgFrame(capture, rgb_raw_frame);