also remap the compressed topic

Signed-off-by: YuxuanLiuTier4Desktop <[email protected]>
tier4 · Dec 11, 2024 · 849f2fe · 849f2fe
1 parent 7ab83e8
commit 849f2fe
Showing 1 changed file with 14 additions and 0 deletions.
diff --git a/common_sensor_launch/launch/spinnaker.launch.py b/common_sensor_launch/launch/spinnaker.launch.py
@@ -51,6 +51,20 @@ def load_composable_node_param(param_path):
                         LaunchConfiguration("image_topic"),
                     ],
                 ),
+                (
+                    [
+                        "camera",
+                        LaunchConfiguration("camera_id"),
+                        "/image_raw/compressed",
+                    ],
+                    [
+                        "camera",
+                        LaunchConfiguration("camera_id"),
+                        "/",
+                        LaunchConfiguration("image_topic"),
+                        "/compressed"
+                    ],
+                ),
                 (
                     [
                         "camera",