Remove camera_info_topic and image_raw_topic ROS parameters - these should be static and changes handled through ROS topic remapping instead.

Author: hmakelin

config/test_typhoon_h480__ksql_airport.yaml

@@ -12,8 +12,6 @@ mock_gps_node:
       request_timeout: 10
     misc:
       autopilot: 'gisnav.autopilots.px4_micrortps.PX4microRTPS'
-      image_topic: '/camera/image_raw'
-      camera_info_topic: '/camera/camera_info'
       mock_gps_selection: 1
       attitude_deviation_threshold: 10
       #max_pitch: 30

config/typhoon_h480__ksql_airport.yaml

@@ -11,8 +11,6 @@ mock_gps_node:
       request_timeout: 10
     misc:
       autopilot: 'gisnav.autopilots.px4_micrortps.PX4microRTPS'
-      image_topic: '/camera/image_raw'
-      camera_info_topic: '/camera/camera_info'
       attitude_deviation_threshold: 10 # degrees
       max_pitch: 30  # 30  # Used by _should_match
       min_match_altitude: 50

config/typhoon_h480__ksql_airport_ardupilot.yaml

@@ -11,8 +11,6 @@ mock_gps_node:
       request_timeout: 10
     misc:
       autopilot: 'gisnav.autopilots.ardupilot_mavros.ArduPilotMAVROS'
-      image_topic: '/camera/image_raw'
-      camera_info_topic: '/camera/camera_info'
       attitude_deviation_threshold: 10 # degrees
       max_pitch: 50  # 30  # Make bigger with static_camera: True  # Used by _should_match
       min_match_altitude: 50

gisnav/autopilots/ardupilot_mavros.py

@@ -41,16 +41,13 @@ class ArduPilotMAVROS(Autopilot):
     }
     """ROS topics to subscribe"""
 
-    def __init__(self, node: rclpy.node.Node, camera_info_topic: str, image_topic: str,
-                 image_callback: Callable[[Image], None]) -> None:
+    def __init__(self, node: rclpy.node.Node, image_callback: Callable[[Image], None]) -> None:
         """Initialize class
 
         :param node: Parent node that handles the ROS subscriptions
-        :param camera_info_topic: ROS camera info topic to subscribe to
-        :param image_topic: ROS camera image (raw) topic to subscribe to
         :param image_callback: Callback function for camera image
         """
-        super().__init__(node, camera_info_topic, image_topic, image_callback)
+        super().__init__(node, image_callback)
 
         # TODO: copy to shared folder and use relative path
         self._egm96 = GeoidPGM('/usr/share/GeographicLib/geoids/egm96-5.pgm', kind=-3)

gisnav/autopilots/autopilot.py

@@ -24,27 +24,28 @@ class Autopilot(ABC):
     TELEMETRY_EXPIRATION_LIMIT = 1e6
     """Expiration period in usec for vehicle state (if telemetry data is older than this it should not be used)"""
 
-    def __init__(self, node: rclpy.node.Node, camera_info_topic: str, image_topic: str,
-                 on_image_callback: Callable[[ImageData], None]) -> None:
+    CAMERA_INFO_TOPIC = 'camera/camera_info'
+    """ROS camera info (:class:`.sensor_msgs.msg.CameraInfo`) topic to subscribe to"""
+
+    IMAGE_RAW_TOPIC = 'camera/image_raw'
+    """ROS image raw (:class:`.sensor_msgs.msg.Image`) topic to subscribe to"""
+
+    def __init__(self, node: rclpy.node.Node, on_image_callback: Callable[[ImageData], None]) -> None:
         """Initializes autopilot adapter
 
         :param node: Parent node that handles the ROS subscriptions
-        :param camera_info_topic: ROS camera info topic to subscribe to
-        :param image_topic: ROS topic for :class:`.sensor_msgs.msg.Image`
         :param on_image_callback: Callback function for camera image
         """
         self._node = node
         self._topics = {}
 
         # Subscribe to camera data topic
         self.camera_data = None
-        self._camera_info_topic = camera_info_topic
-        self._subscribe(self._camera_info_topic, CameraInfo, self._camera_info_callback,
+        self._subscribe(self.CAMERA_INFO_TOPIC, CameraInfo, self._camera_info_callback,
                         rclpy.qos.QoSPresetProfiles.SENSOR_DATA.value)
 
         # Image topic callback gets access to base node through provided on_image_callback
-        self._image_topic = image_topic
-        self._subscribe(self._image_topic, Image, on_image_callback, rclpy.qos.QoSPresetProfiles.SENSOR_DATA.value)
+        self._subscribe(self.IMAGE_RAW_TOPIC, Image, on_image_callback, rclpy.qos.QoSPresetProfiles.SENSOR_DATA.value)
 
     @property
     def _node(self) -> rclpy.node.Node:
@@ -76,26 +77,6 @@ def camera_data(self, value: Optional[CameraData]) -> None:
         assert_type(value, get_args(Optional[CameraData]))
         self.__camera_data = value
 
-    @property
-    def _camera_info_topic(self) -> str:
-        """CameraInfo ROS topic name."""
-        return self.__camera_info_topic
-
-    @_camera_info_topic.setter
-    def _camera_info_topic(self, value: str) -> None:
-        assert_type(value, str)
-        self.__camera_info_topic = value
-
-    @property
-    def _image_topic(self) -> str:
-        """Image ROS topic name."""
-        return self.__image_topic
-
-    @_image_topic.setter
-    def _image_topic(self, value: str) -> None:
-        assert_type(value, str)
-        self.__image_topic = value
-
     def _subscribe(self, topic_name: str, class_: type, callback: Callable, qos: rclpy.qos.QoSProfile) -> None:
         """Subscribes to ROS topic
 
@@ -137,10 +118,10 @@ def _camera_info_callback(self, msg: CameraInfo) -> None:
             return None
         else:
             self.camera_data = CameraData(k=msg.k.reshape((3, 3)), dim=Dim(msg.height, msg.width))
-            camera_info_topic = self._topics.get(self._camera_info_topic, {}).get(self._TOPICS_SUBSCRIBER_KEY, None)
-            if camera_info_topic is not None:
+            camera_info_sub = self._topics.get(self.CAMERA_INFO_TOPIC, {}).get(self._TOPICS_SUBSCRIBER_KEY, None)
+            if camera_info_sub is not None:
                 # Assume camera info is static, destroy subscription
-                camera_info_topic.destroy()
+                camera_info_sub.destroy()
 
     @property
     @abstractmethod

gisnav/autopilots/px4_micrortps.py

@@ -40,16 +40,13 @@ class PX4microRTPS(Autopilot):
     }
     """ROS topics to subscribe"""
 
-    def __init__(self, node: rclpy.node.Node, camera_info_topic: str, image_topic: str,
-                 image_callback: Callable[[Image], None]) -> None:
+    def __init__(self, node: rclpy.node.Node, image_callback: Callable[[Image], None]) -> None:
         """Initialize class
 
         :param node: Parent node that handles the ROS subscriptions
-        :param camera_info_topic: ROS camera info topic to subscribe to
-        :param image_topic: ROS camera image (raw) topic to subscribe to
         :param image_callback: Callback function for camera image
         """
-        super().__init__(node, camera_info_topic, image_topic, image_callback)
+        super().__init__(node, image_callback)
 
         self._setup_subscribers()
 

gisnav/nodes/base_node.py

@@ -81,12 +81,6 @@ class BaseNode(Node, ABC):
     ROS_D_MISC_AUTOPILOT = 'gisnav.autopilots.px4_micrortps.PX4microRTPS'
     """Default autopilot adapter"""
 
-    ROS_D_MISC_IMAGE_TOPIC = '/camera/image_raw'
-    """Default ROS image topic name"""
-
-    ROS_D_MISC_CAMERA_INFO_TOPIC = '/camera/camera_info'
-    """Default ROS camera info topic name"""
-
     ROS_D_STATIC_CAMERA = False
     """Default value for static camera flag (true for static camera facing down from vehicle body)"""
 
@@ -183,8 +177,6 @@ class BaseNode(Node, ABC):
         ('wms.srs', ROS_D_WMS_SRS),
         ('wms.request_timeout', ROS_D_WMS_REQUEST_TIMEOUT),
         ('misc.autopilot', ROS_D_MISC_AUTOPILOT, read_only),
-        ('misc.camera_info_topic', ROS_D_MISC_CAMERA_INFO_TOPIC, read_only),
-        ('misc.image_topic', ROS_D_MISC_IMAGE_TOPIC, read_only),
         ('misc.static_camera', ROS_D_STATIC_CAMERA, read_only),
         ('misc.attitude_deviation_threshold', ROS_D_MISC_ATTITUDE_DEVIATION_THRESHOLD),
         ('misc.max_pitch', ROS_D_MISC_MAX_PITCH),
@@ -234,12 +226,8 @@ def __init__(self, name: str, package_share_dir: str) -> None:
         # Autopilot bridge
         ap = self.get_parameter('misc.autopilot').get_parameter_value().string_value or self.ROS_D_MISC_AUTOPILOT
         ap: Autopilot = self._load_autopilot(ap)
-        image_topic = self.get_parameter('misc.image_topic').get_parameter_value().string_value \
-                      or self.ROS_D_MISC_IMAGE_TOPIC
-        camera_info_topic = self.get_parameter('misc.camera_info_topic').get_parameter_value().string_value \
-                      or self.ROS_D_MISC_CAMERA_INFO_TOPIC
         # TODO: implement passing init args, kwargs
-        self._bridge = ap(self, camera_info_topic, image_topic, self._image_raw_callback)
+        self._bridge = ap(self, self._image_raw_callback)
 
         # Converts image_raw to cv2 compatible image
         self._cv_bridge = CvBridge()