update qos and add detector_hue launch

detector2d_bringup/launch/detector_hue.launch.py

@@ -0,0 +1,45 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+
+def generate_launch_description():
+    container = ComposableNodeContainer(
+        name='detector_container',
+        namespace='',
+        package='rclcpp_components',
+        executable='component_container',
+        composable_node_descriptions=[
+            # ComposableNode(
+            #     package='realsense2_camera',
+            #     plugin='realsense2_camera::RealSenseNodeFactory',
+            #     name='realsense2_camera',
+            #     namespace='',
+            #     parameters=[{
+            #         'align_depth.enable': True,
+            #         'enable_color': True,
+            #         'enable_depth': True
+            #     }]
+            # ),
+            ComposableNode(
+                package='detector2d_node',
+                plugin='detector2d_node::Detector2dNode',
+                name='detector2d_node',
+                namespace='',
+                parameters=[{
+                    'load_target_plugin': 'detector2d_plugins::PanelSimpleDetector',
+                    'debug': True
+                }],
+                remappings=[
+                    ('image_raw', 'blue/camera/image_raw')
+                ]
+            )
+        ]
+    )
+
+    return LaunchDescription([
+        container
+    ])

detector2d_node/src/detector2d_node.cpp

@@ -37,7 +37,7 @@ Detector2dNode::Detector2dNode(const rclcpp::NodeOptions & options)
   this->pose_pub_ = this->create_publisher<vision_msgs::msg::Detection2DArray>(
     "positions", 1);
   this->image_sub_ = this->create_subscription<sensor_msgs::msg::Image>(
-    "image_raw", 1, std::bind(&Detector2dNode::image_callback, this, std::placeholders::_1));
+    "image_raw", rclcpp::SensorDataQoS(), std::bind(&Detector2dNode::image_callback, this, std::placeholders::_1));
 }
 
 void Detector2dNode::image_callback(const sensor_msgs::msg::Image::SharedPtr msg)