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Fix camera info publishing to support the Camera RVIZ plugin #19

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Fix camera info publishing to support the Camera RVIZ plugin #19

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14 changes: 9 additions & 5 deletions multisense_ros/include/multisense_ros/camera.h
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Original file line number Diff line number Diff line change
Expand Up @@ -118,6 +118,7 @@ class Camera {
static constexpr char COLOR_POINTCLOUD_TOPIC[] = "image_points2_color";
static constexpr char ORGANIZED_POINTCLOUD_TOPIC[] = "organized_image_points2";
static constexpr char COLOR_ORGANIZED_POINTCLOUD_TOPIC[] = "organized_image_points2_color";
static constexpr char CAMERA_INFO_TOPIC[] = "camera_info";
static constexpr char MONO_CAMERA_INFO_TOPIC[] = "image_mono/camera_info";
static constexpr char RECT_CAMERA_INFO_TOPIC[] = "image_rect/camera_info";
static constexpr char COLOR_CAMERA_INFO_TOPIC[] = "image_color/camera_info";
Expand Down Expand Up @@ -177,17 +178,20 @@ class Camera {

image_transport::Publisher left_mono_cam_pub_;
image_transport::Publisher right_mono_cam_pub_;
image_transport::CameraPublisher left_rect_cam_pub_;
image_transport::CameraPublisher right_rect_cam_pub_;
image_transport::Publisher left_rect_cam_pub_;
image_transport::Publisher right_rect_cam_pub_;
image_transport::Publisher depth_cam_pub_;
image_transport::Publisher ni_depth_cam_pub_; // publish depth infomation in the openNI format
image_transport::Publisher left_rgb_cam_pub_;
image_transport::CameraPublisher left_rgb_rect_cam_pub_;
image_transport::Publisher left_rgb_rect_cam_pub_;
image_transport::Publisher aux_rgb_cam_pub_;
image_transport::Publisher aux_mono_cam_pub_;
image_transport::CameraPublisher aux_rect_cam_pub_;
image_transport::CameraPublisher aux_rgb_rect_cam_pub_;
image_transport::Publisher aux_rect_cam_pub_;
image_transport::Publisher aux_rgb_rect_cam_pub_;

ros::Publisher left_cam_info_pub_;
ros::Publisher right_cam_info_pub_;
ros::Publisher aux_cam_info_pub_;
ros::Publisher left_mono_cam_info_pub_;
ros::Publisher right_mono_cam_info_pub_;
ros::Publisher left_rect_cam_info_pub_;
Expand Down
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