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Update ROS 2 API usage in usb_cam_node #388

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Update ROS 2 API usage in usb_cam_node #388

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10 changes: 7 additions & 3 deletions src/usb_cam_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,8 +45,8 @@ UsbCamNode::UsbCamNode(const rclcpp::NodeOptions & node_options)
m_image_msg(new sensor_msgs::msg::Image()),
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()))),
image_transport::create_camera_publisher(
*this, BASE_TOPIC_NAME, rclcpp::QoS {100}))),
m_compressed_image_publisher(nullptr),
m_compressed_cam_info_publisher(nullptr),
m_parameters(),
Expand Down Expand Up @@ -151,7 +151,11 @@ 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));
this->get_node_base_interface(),
this->get_node_services_interface(),
this->get_node_logging_interface(),
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