ROS2: cannot change image_transport plugin used by rtabmap's nodes

[matlabbe]

Under ros1, we could do:

rosrun rtabmap_odom rgbd_odometry _rgb/image_transport:=compressed _depth/image_transport:=compressedDepth
...
/rgbd_odometry subscribed to (approx sync):
   /rgb/image/compressed \
   /depth/image/compressedDepth \
   /rgb/camera_info
...

and the node will subscribe to input topics with corresponding image_transport suffix.

Similar commands under ROS2 don't work:

ros2 run rtabmap_odom rgbd_odometry --ros-args -p rgb/image_transport:=compressed -p depth/image_transport:=compressedDepth
...
rgbd_odometry subscribed to (approx sync):
   /rgb/image,
   /depth/image,
   /rgb/camera_info
...

ros2 run rtabmap_odom rgbd_odometry --ros-args -p image_transport:=compressed
...
rgbd_odometry subscribed to (approx sync):
   /rgb/image,
   /depth/image,
   /rgb/camera_info
...

Workaround

Current workaround is to use image_transport's republish node:

ros2 run image_transport republish compressed raw --ros-args -r in/compressed:=/rgb/image/compressed -r out:=/rgb/image
ros2 run image_transport republish compressedDepth raw --ros-args -r in/compressedDepth:=/depth/image/compressed -r out:=/depth/image
ros2 run rtabmap_odom rgbd_odometry 
...
rgbd_odometry subscribed to (approx sync):
   /rgb/image,
   /depth/image,
   /rgb/camera_info
...