Fix publisher advertiseImpl() and subscribeImpl() for compressed_image_transport, compressed_depth_transport and theora_image_transport

compressed_depth_image_transport/include/compressed_depth_image_transport/compressed_depth_publisher.h

@@ -50,12 +50,13 @@ class CompressedDepthPublisher : public image_transport::SimplePublisherPlugin<s
 
 protected:
   // Overridden to set up reconfigure server
-  virtual void advertiseImpl(
+  void advertiseImpl(
           rclcpp::Node * node,
           const std::string &base_topic,
-          rmw_qos_profile_t custom_qos) override final;
+          rmw_qos_profile_t custom_qos,
+          rclcpp::PublisherOptions options) override final;
 
-  virtual void publish(const sensor_msgs::msg::Image& message,
+  void publish(const sensor_msgs::msg::Image& message,
                        const PublishFn& publish_fn) const override final;
 
   struct Config {

compressed_depth_image_transport/src/compressed_depth_publisher.cpp

@@ -60,10 +60,11 @@ namespace compressed_depth_image_transport
 void CompressedDepthPublisher::advertiseImpl(
   rclcpp::Node * node,
   const std::string& base_topic,
-  rmw_qos_profile_t custom_qos)
+  rmw_qos_profile_t custom_qos,
+  rclcpp::PublisherOptions options)
 {
   typedef image_transport::SimplePublisherPlugin<sensor_msgs::msg::CompressedImage> Base;
-  Base::advertiseImpl(node, base_topic, custom_qos);
+  Base::advertiseImpl(node, base_topic, custom_qos, options);
 
   node->get_parameter_or<int>("png_level", config_.png_level, kDefaultPngLevel);
   node->get_parameter_or<double>("depth_max", config_.depth_max, kDefaultDepthMax);

compressed_image_transport/include/compressed_image_transport/compressed_publisher.h

@@ -48,9 +48,9 @@ class CompressedPublisher : public image_transport::SimplePublisherPlugin<Compre
 {
 public:
   CompressedPublisher(): logger_(rclcpp::get_logger("CompressedPublisher")) {}
-  virtual ~CompressedPublisher() = default;
+  ~CompressedPublisher() override = default;
 
-  virtual std::string getTransportName() const
+  std::string getTransportName() const override
   {
     return "compressed";
   }
@@ -60,7 +60,8 @@ class CompressedPublisher : public image_transport::SimplePublisherPlugin<Compre
   void advertiseImpl(
       rclcpp::Node* node,
       const std::string& base_topic,
-      rmw_qos_profile_t custom_qos) override;
+      rmw_qos_profile_t custom_qos,
+      rclcpp::PublisherOptions options) override;
 
   void publish(const sensor_msgs::msg::Image& message,
                const PublishFn& publish_fn) const;

compressed_image_transport/include/compressed_image_transport/compressed_subscriber.h

@@ -55,12 +55,6 @@ class CompressedSubscriber final : public image_transport::SimpleSubscriberPlugi
   }
 
 protected:
-  // Overridden to set up reconfigure server
-  void subscribeImpl(
-      rclcpp::Node * ,
-      const std::string& base_topic,
-      const Callback& callback,
-      rmw_qos_profile_t custom_qos) override;
 
   void subscribeImpl(
       rclcpp::Node * ,

compressed_image_transport/src/compressed_publisher.cpp

@@ -61,10 +61,11 @@ namespace compressed_image_transport
 void CompressedPublisher::advertiseImpl(
   rclcpp::Node* node,
   const std::string& base_topic,
-  rmw_qos_profile_t custom_qos)
+  rmw_qos_profile_t custom_qos,
+  rclcpp::PublisherOptions options)
 {
   typedef image_transport::SimplePublisherPlugin<sensor_msgs::msg::CompressedImage> Base;
-  Base::advertiseImpl(node, base_topic, custom_qos);
+  Base::advertiseImpl(node, base_topic, custom_qos, options);
 
   uint ns_len = node->get_effective_namespace().length();
   std::string param_base_name = base_topic.substr(ns_len);

compressed_image_transport/src/compressed_subscriber.cpp

@@ -57,15 +57,6 @@ using CompressedImage = sensor_msgs::msg::CompressedImage;
 namespace compressed_image_transport
 {
 
-void CompressedSubscriber::subscribeImpl(
-    rclcpp::Node * node,
-    const std::string& base_topic,
-    const Callback& callback,
-    rmw_qos_profile_t custom_qos)
-{
-  this->subscribeImpl(node, base_topic, callback, custom_qos, rclcpp::SubscriptionOptions{});
-}
-
 void CompressedSubscriber::subscribeImpl(
     rclcpp::Node * node,
     const std::string& base_topic,
@@ -75,7 +66,7 @@ void CompressedSubscriber::subscribeImpl(
 {
     logger_ = node->get_logger();
     typedef image_transport::SimpleSubscriberPlugin<CompressedImage> Base;
-    Base::subscribeImplWithOptions(node, base_topic, callback, custom_qos, options);
+    Base::subscribeImpl(node, base_topic, callback, custom_qos, options);
     uint ns_len = node->get_effective_namespace().length();
     std::string param_base_name = base_topic.substr(ns_len);
     std::replace(param_base_name.begin(), param_base_name.end(), '/', '.');

theora_image_transport/include/theora_image_transport/theora_publisher.h

@@ -50,17 +50,17 @@ class TheoraPublisher : public image_transport::SimplePublisherPlugin<theora_ima
 {
 public:
   TheoraPublisher();
-  virtual ~TheoraPublisher();
+  ~TheoraPublisher() override;
 
   // Return the system unique string representing the theora transport type
-  virtual std::string getTransportName() const { return "theora"; }
+  std::string getTransportName() const override { return "theora"; }
 
 protected:
-  virtual void advertiseImpl(
+  void advertiseImpl(
     rclcpp::Node* node,
     const std::string &base_topic,
-    uint32_t queue_size,
-    rmw_qos_profile_t custom_qos);
+    rmw_qos_profile_t custom_qos,
+    rclcpp::PublisherOptions options) override;
 
   // TODO: Callback to send header packets to new clients
   // virtual void connectCallback(const ros::SingleSubscriberPublisher& pub);

theora_image_transport/include/theora_image_transport/theora_subscriber.h

@@ -51,12 +51,12 @@ class TheoraSubscriber : public image_transport::SimpleSubscriberPlugin<theora_i
 
 protected:
   // Overridden to bump queue_size, otherwise we might lose headers
-  virtual void subscribeImpl(
+  void subscribeImpl(
     rclcpp::Node* node,
     const std::string &base_topic,
     const Callback & callback,
-    uint32_t queue_size,
-    rmw_qos_profile_t custom_qos);
+    rmw_qos_profile_t custom_qos,
+    rclcpp::SubscriptionOptions options) override;
 
   // The function that does the actual decompression and calls a user supplied
   // callback with the resulting image

theora_image_transport/src/theora_publisher.cpp

@@ -74,20 +74,13 @@ TheoraPublisher::~TheoraPublisher()
 void TheoraPublisher::advertiseImpl(
   rclcpp::Node *node,
   const std::string &base_topic,
-  uint32_t queue_size,
-  rmw_qos_profile_t custom_qos)
+  rmw_qos_profile_t custom_qos,
+  rclcpp::PublisherOptions options)
 {
   logger_ = node->get_logger();
-  // queue_size doesn't account for the 3 header packets, so we correct (with a little extra) here.
-  // ported this to ROS2 using the history policy that  determines how messages
-  // are saved until the message is taken by the reader.  KEEP_ALL saves all
-  // messages until they are taken.  KEEP_LAST enforces a limit on the number of
-  // messages that are saved, specified by the "depth" parameter.
-  custom_qos.history = rmw_qos_profile_default.history;
-  custom_qos.depth = queue_size + 4;
 
   typedef image_transport::SimplePublisherPlugin<theora_image_transport::msg::Packet> Base;
-  Base::advertiseImpl(node, base_topic, custom_qos);
+  Base::advertiseImpl(node, base_topic, custom_qos, options);
 }
 
   // TODO(ros2): this method should be called when configuration change through

theora_image_transport/src/theora_subscriber.cpp

@@ -69,20 +69,13 @@ void TheoraSubscriber::subscribeImpl(
   rclcpp::Node * node,
   const std::string &base_topic,
   const Callback & callback,
-  uint32_t queue_size,
-  rmw_qos_profile_t custom_qos)
+  rmw_qos_profile_t custom_qos,
+  rclcpp::SubscriptionOptions options)
 {
   logger_ = node->get_logger();
-  // queue_size doesn't account for the 3 header packets, so we correct (with a little extra) here.
-  // ported this to ROS2 using the history policy that  determines how messages
-  // are saved until the message is taken by the reader.  KEEP_ALL saves all
-  // messages until they are taken.  KEEP_LAST enforces a limit on the number of
-  // messages that are saved, specified by the "depth" parameter.
-  custom_qos.history = rmw_qos_profile_default.history;
-  custom_qos.depth = queue_size + 4;
 
   typedef image_transport::SimpleSubscriberPlugin<theora_image_transport::msg::Packet> Base;
-  Base::subscribeImpl(node, base_topic, callback, custom_qos);
+  Base::subscribeImpl(node, base_topic, callback, custom_qos, options);
 }
 
 // TODO: port this check to ROS2 user events