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set latching by config to avoid invalid zenoh qos value #40

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Merged
nathanhhughes merged 1 commit into from
Sep 30, 2025
Merged

set latching by config to avoid invalid zenoh qos value #40

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2 changes: 2 additions & 0 deletions hydra_ros/include/hydra_ros/input/ros_sensors.h
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Original file line number Diff line number Diff line change
Expand Up @@ -87,6 +87,8 @@ struct RosCamera : InvalidSensor {
double warning_timeout_s = 10.0;
//! @brief Amount of time to wait before forcing Hydra to exit (0 disables exit)
double error_timeout_s = 0.0;
//! @brief Whether or not to use latching for subscriber
bool latch_info_sub = false;
} const config;

explicit RosCamera(const Config& config);
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13 changes: 8 additions & 5 deletions hydra_ros/src/input/ros_sensors.cpp
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Expand Up @@ -69,16 +69,18 @@ void fillConfigFromInfo(const CameraInfo& msg, Camera::Config& cam_config) {
cam_config.cy = msg.k[5];
}

std::optional<sensor_msgs::msg::CameraInfo> getCameraInfo(const RosCamera::Config& c,
const std::string& ns) {
std::optional<sensor_msgs::msg::CameraInfo> getCameraInfo(
const RosCamera::Config& config, const std::string& ns) {
auto nh = ianvs::NodeHandle::this_node(ns);
const auto resolved_topic = nh.resolve_name("camera_info", false);
LOG(INFO) << "Waiting for CameraInfo on " << resolved_topic
<< " to initialize sensor model";

const auto start = nh.now();
const auto qos = rclcpp::QoS(1).durability(rclcpp::DurabilityPolicy::BestAvailable);
const size_t timeout = std::floor(c.warning_timeout_s * 1000);
const auto qos = rclcpp::QoS(1).durability(
config.latch_info_sub ? rclcpp::DurabilityPolicy::TransientLocal
: rclcpp::DurabilityPolicy::Volatile);
const size_t timeout = std::floor(config.warning_timeout_s * 1000);

std::optional<sensor_msgs::msg::CameraInfo> msg;
while (!msg && rclcpp::ok()) {
Expand All @@ -88,7 +90,7 @@ std::optional<sensor_msgs::msg::CameraInfo> getCameraInfo(const RosCamera::Confi
}

const auto diff = nh.now() - start;
if (c.error_timeout_s && (diff.seconds() > c.error_timeout_s)) {
if (config.error_timeout_s && (diff.seconds() > config.error_timeout_s)) {
LOG(ERROR) << "Sensor intrinsics lookup timed out on '" << resolved_topic << "'";
break;
}
Expand Down Expand Up @@ -170,6 +172,7 @@ void declare_config(RosCamera::Config& config) {
field(config.ns, "ns");
field(config.warning_timeout_s, "warning_timeout_s", "s");
field(config.error_timeout_s, "error_timeout_s", "s");
field(config.latch_info_sub, "latch_info_sub");
check(config.warning_timeout_s, GE, 0.0, "warning_timeout_s");
check(config.error_timeout_s, GE, 0.0, "error_timeout_s");
}
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1 change: 1 addition & 0 deletions hydra_ros/tests/test_ros_sensors.cpp
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Expand Up @@ -169,6 +169,7 @@ TEST_F(RosSensors, Camera) {
config.max_range = 15;
config.warning_timeout_s = 1.0;
config.error_timeout_s = 5.0;
config.latch_info_sub = true;
config.extrinsics = IdentitySensorExtrinsics::Config();

{ // should be able to parse intrinsics and extrinsics separately
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