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Fix build warnings on rolling #381

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Fix build warnings on rolling #381

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0684637
Update QoS handling for compatibility with different RCLCPP versions
RBT22 Feb 25, 2026
ea578c4
Fix camera info manager initialization for RCLCPP version compatibility
RBT22 Feb 25, 2026
4c9a0b3
Fix params for rolling
RBT22 Feb 26, 2026
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19 changes: 17 additions & 2 deletions src/usb_cam_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,7 @@
#include <filesystem>
#include "usb_cam/usb_cam_node.hpp"
#include "usb_cam/utils.hpp"
#include <rclcpp/version.h>

const char BASE_TOPIC_NAME[] = "image_raw";

Expand All @@ -46,7 +47,14 @@ UsbCamNode::UsbCamNode(const rclcpp::NodeOptions & node_options)
m_compressed_img_msg(nullptr),
m_image_publisher(std::make_shared<image_transport::CameraPublisher>(
image_transport::create_camera_publisher(this, BASE_TOPIC_NAME,
rclcpp::QoS {100}.get_rmw_qos_profile()))),
// For Rolling, L-turtle, and newer
#if RCLCPP_VERSION_GTE(30, 0, 0)
rclcpp::QoS(100)
// For Kilted and older
#else
rclcpp::QoS(100).get_rmw_qos_profile()
#endif
))),
m_compressed_image_publisher(nullptr),
m_compressed_cam_info_publisher(nullptr),
m_parameters(),
Expand Down Expand Up @@ -149,7 +157,14 @@ void UsbCamNode::init()
// load the camera info
m_camera_info.reset(
new camera_info_manager::CameraInfoManager(
this, m_parameters.camera_name, m_parameters.camera_info_url));
// For Rolling, L-turtle, and newer
#if RCLCPP_VERSION_GTE(30, 0, 0)
this->get_node_base_interface(),
// For Kilted and older
#else
this,
#endif
m_parameters.camera_name, m_parameters.camera_info_url));
// check for default camera info
if (!m_camera_info->isCalibrated()) {
m_camera_info->setCameraName(m_parameters.device_name);
Expand Down
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