Support image_transport lifecycle

depth_image_proc/src/convert_metric.cpp

@@ -83,11 +83,12 @@ ConvertMetricNode::ConvertMetricNode(const rclcpp::NodeOptions & options)
         auto node_base = this->get_node_base_interface();
         std::string topic = node_base->resolve_topic_or_service_name("image_raw", false);
         // Get transport hints
-        image_transport::TransportHints hints(this);
+        image_transport::TransportHints hints{*this};
         // Create subscriber with QoS matched to subscribed topic publisher
         auto qos_profile = image_proc::getTopicQosProfile(this, topic);
         sub_raw_ = image_transport::create_subscription(
-          this, topic,
+          *this,
+          topic,
           std::bind(&ConvertMetricNode::depthCb, this, std::placeholders::_1),
           hints.getTransport(),
           qos_profile);
@@ -100,7 +101,8 @@ ConvertMetricNode::ConvertMetricNode(const rclcpp::NodeOptions & options)
 
   // Create publisher - allow overriding QoS settings (history, depth, reliability)
   pub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
-  pub_depth_ = image_transport::create_publisher(this, topic, rmw_qos_profile_default,
+  pub_depth_ = image_transport::create_publisher(*this, topic,
+      rmw_qos_profile_default,
       pub_options);
 }
 

depth_image_proc/src/crop_foremost.cpp

@@ -90,11 +90,12 @@ CropForemostNode::CropForemostNode(const rclcpp::NodeOptions & options)
         auto node_base = this->get_node_base_interface();
         std::string topic = node_base->resolve_topic_or_service_name("image_raw", false);
         // Get transport hints
-        image_transport::TransportHints hints(this);
+        image_transport::TransportHints hints{*this};
         // Create publisher with same QoS as subscribed topic publisher
         auto qos_profile = image_proc::getTopicQosProfile(this, topic);
         sub_raw_ = image_transport::create_subscription(
-          this, topic,
+          *this,
+          topic,
           std::bind(&CropForemostNode::depthCb, this, std::placeholders::_1),
           hints.getTransport(),
           qos_profile);
@@ -107,7 +108,8 @@ CropForemostNode::CropForemostNode(const rclcpp::NodeOptions & options)
 
   // Create publisher - allow overriding QoS settings (history, depth, reliability)
   pub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
-  pub_depth_ = image_transport::create_publisher(this, topic, rmw_qos_profile_default,
+  pub_depth_ = image_transport::create_publisher(*this, topic,
+      rmw_qos_profile_default,
     pub_options);
 }
 

depth_image_proc/src/disparity.cpp

@@ -114,8 +114,9 @@ DisparityNode::DisparityNode(const rclcpp::NodeOptions & options)
         // fully expanded and remapped topic name to image_transport
         auto node_base = this->get_node_base_interface();
         std::string topic = node_base->resolve_topic_or_service_name("left/image_rect", false);
-        image_transport::TransportHints hints(this);
-        sub_depth_image_.subscribe(this, topic, hints.getTransport());
+        image_transport::TransportHints hints{*this};
+        sub_depth_image_.subscribe(*this, topic,
+          hints.getTransport());
         sub_info_.subscribe(this, "right/camera_info", rclcpp::QoS(10));
       }
     };

depth_image_proc/src/point_cloud_xyz.cpp

@@ -77,14 +77,15 @@ PointCloudXyzNode::PointCloudXyzNode(const rclcpp::NodeOptions & options)
         std::string topic = node_base->resolve_topic_or_service_name("image_rect", false);
 
         // Get transport hints
-        image_transport::TransportHints depth_hints(this, "raw", "depth_image_transport");
+        image_transport::TransportHints depth_hints(*this,
+          "raw", "depth_image_transport");
 
         // Create subscriber with QoS matched to subscribed topic publisher
         auto qos_profile = image_proc::getTopicQosProfile(this, topic);
         qos_profile.depth = queue_size_;
 
         sub_depth_ = image_transport::create_camera_subscription(
-          this,
+          *this,
           topic,
           std::bind(
             &PointCloudXyzNode::depthCb, this, std::placeholders::_1,

depth_image_proc/src/point_cloud_xyz_radial.cpp

@@ -71,13 +71,14 @@ PointCloudXyzRadialNode::PointCloudXyzRadialNode(const rclcpp::NodeOptions & opt
         auto node_base = this->get_node_base_interface();
         std::string topic = node_base->resolve_topic_or_service_name("depth/image_raw", false);
         // Get transport hints
-        image_transport::TransportHints depth_hints(this, "raw", "depth_image_transport");
+        image_transport::TransportHints depth_hints(*this,
+          "raw", "depth_image_transport");
         // Create subscriber with QoS matched to subscribed topic publisher
         auto qos_profile = image_proc::getTopicQosProfile(this, topic);
         qos_profile.depth = queue_size_;
         // Create subscriber
         sub_depth_ = image_transport::create_camera_subscription(
-          this,
+          *this,
           topic,
           std::bind(
             &PointCloudXyzRadialNode::depthCb, this, std::placeholders::_1,

depth_image_proc/src/point_cloud_xyzi.cpp

@@ -102,12 +102,15 @@ PointCloudXyziNode::PointCloudXyziNode(const rclcpp::NodeOptions & options)
           image_transport::getCameraInfoTopic(intensity_topic), false);
 
         // depth image can use different transport.(e.g. compressedDepth)
-        image_transport::TransportHints depth_hints(this, "raw", "depth_image_transport");
-        sub_depth_.subscribe(this, depth_topic, depth_hints.getTransport());
+        image_transport::TransportHints depth_hints(*this,
+          "raw", "depth_image_transport");
+        sub_depth_.subscribe(*this, depth_topic,
+          depth_hints.getTransport());
 
         // intensity uses normal ros transport hints.
-        image_transport::TransportHints hints(this, "raw");
-        sub_intensity_.subscribe(this, intensity_topic, hints.getTransport());
+        image_transport::TransportHints hints(*this, "raw");
+        sub_intensity_.subscribe(*this, intensity_topic,
+          hints.getTransport());
         sub_info_.subscribe(this, intensity_info_topic, rclcpp::QoS(10));
       }
     };

depth_image_proc/src/point_cloud_xyzi_radial.cpp

@@ -98,16 +98,19 @@ PointCloudXyziRadialNode::PointCloudXyziRadialNode(const rclcpp::NodeOptions & o
           image_transport::getCameraInfoTopic(intensity_topic), false);
 
         // depth image can use different transport.(e.g. compressedDepth)
-        image_transport::TransportHints depth_hints(this, "raw", "depth_image_transport");
+        image_transport::TransportHints depth_hints(*this,
+          "raw", "depth_image_transport");
         // Create subscriber with QoS matched to subscribed topic publisher
         auto depth_qos_profile = image_proc::getTopicQosProfile(this, depth_topic);
-        sub_depth_.subscribe(this, depth_topic, depth_hints.getTransport(), depth_qos_profile);
+        sub_depth_.subscribe(*this, depth_topic,
+          depth_hints.getTransport(), depth_qos_profile);
 
         // intensity uses normal ros transport hints.
-        image_transport::TransportHints hints(this);
+        image_transport::TransportHints hints{*this};
         // Create subscriber with QoS matched to subscribed topic publisher
         auto qos_profile = image_proc::getTopicQosProfile(this, intensity_topic);
-        sub_intensity_.subscribe(this, intensity_topic, hints.getTransport(), qos_profile);
+        sub_intensity_.subscribe(*this, intensity_topic,
+          hints.getTransport(), qos_profile);
         sub_info_.subscribe(this, intensity_info_topic, rclcpp::QoS(10));
       }
     };

depth_image_proc/src/point_cloud_xyzrgb.cpp

@@ -111,7 +111,8 @@ PointCloudXyzrgbNode::PointCloudXyzrgbNode(const rclcpp::NodeOptions & options)
           image_transport::getCameraInfoTopic(rgb_topic), false);
 
         // parameter for depth_image_transport hint
-        image_transport::TransportHints depth_hints(this, "raw", "depth_image_transport");
+        image_transport::TransportHints depth_hints(*this,
+          "raw", "depth_image_transport");
 
         rclcpp::SubscriptionOptions sub_opts;
         // Update the subscription options to allow reconfigurable qos settings.
@@ -126,13 +127,14 @@ PointCloudXyzrgbNode::PointCloudXyzrgbNode(const rclcpp::NodeOptions & options)
 
         // depth image can use different transport.(e.g. compressedDepth)
         sub_depth_.subscribe(
-          this, depth_topic,
+          *this, depth_topic,
           depth_hints.getTransport(), rmw_qos_profile_default, sub_opts);
 
         // rgb uses normal ros transport hints.
-        image_transport::TransportHints hints(this);
+        image_transport::TransportHints hints{*this};
         sub_rgb_.subscribe(
-          this, rgb_topic,
+          *this,
+          rgb_topic,
           hints.getTransport(),
           rmw_qos_profile_default, sub_opts);
         sub_info_.subscribe(this, rgb_info_topic, rclcpp::QoS(10));

depth_image_proc/src/point_cloud_xyzrgb_radial.cpp

@@ -112,12 +112,15 @@ PointCloudXyzrgbRadialNode::PointCloudXyzrgbRadialNode(const rclcpp::NodeOptions
           image_transport::getCameraInfoTopic(rgb_topic), false);
 
         // depth image can use different transport.(e.g. compressedDepth)
-        image_transport::TransportHints depth_hints(this, "raw", "depth_image_transport");
-        sub_depth_.subscribe(this, depth_topic, depth_hints.getTransport());
+        image_transport::TransportHints depth_hints(*this,
+          "raw", "depth_image_transport");
+        sub_depth_.subscribe(*this, depth_topic,
+          depth_hints.getTransport());
 
         // rgb uses normal ros transport hints.
-        image_transport::TransportHints hints(this, "raw");
-        sub_rgb_.subscribe(this, rgb_topic, hints.getTransport());
+        image_transport::TransportHints hints(*this, "raw");
+        sub_rgb_.subscribe(*this, rgb_topic,
+          hints.getTransport());
         sub_info_.subscribe(this, rgb_info_topic, rclcpp::QoS(10));
       }
     };

depth_image_proc/src/register.cpp

@@ -141,8 +141,10 @@ RegisterNode::RegisterNode(const rclcpp::NodeOptions & options)
         // fully expanded and remapped topic name to image_transport
         auto node_base = this->get_node_base_interface();
         std::string topic = node_base->resolve_topic_or_service_name("depth/image_rect", false);
-        image_transport::TransportHints hints(this, "raw", "depth_image_transport");
-        sub_depth_image_.subscribe(this, topic, hints.getTransport(), rmw_qos_profile_default,
+        image_transport::TransportHints hints(*this, "raw",
+          "depth_image_transport");
+        sub_depth_image_.subscribe(*this, topic,
+          hints.getTransport(), rmw_qos_profile_default,
           sub_options);
         sub_depth_info_.subscribe(this, "depth/camera_info", rclcpp::QoS(10), sub_options);
         sub_rgb_info_.subscribe(this, "rgb/camera_info", rclcpp::QoS(10), sub_options);
@@ -158,7 +160,7 @@ RegisterNode::RegisterNode(const rclcpp::NodeOptions & options)
   pub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
   pub_registered_ =
     image_transport::create_camera_publisher(
-    this, topic,
+    *this, topic,
     rmw_qos_profile_default, pub_options);
 }
 

image_proc/src/crop_decimate.cpp

@@ -144,17 +144,18 @@ CropDecimateNode::CropDecimateNode(const rclcpp::NodeOptions & options)
       } else if (!sub_) {
         // Create subscriber with QoS matched to subscribed topic publisher
         auto qos_profile = getTopicQosProfile(this, image_topic_);
-        image_transport::TransportHints hints(this);
+        image_transport::TransportHints hints{*this};
         sub_ = image_transport::create_camera_subscription(
-          this, image_topic_, std::bind(
+          *this, image_topic_, std::bind(
             &CropDecimateNode::imageCb, this,
             std::placeholders::_1, std::placeholders::_2), hints.getTransport(), qos_profile);
       }
     };
 
   // Create publisher - allow overriding QoS settings (history, depth, reliability)
   pub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
-  pub_ = image_transport::create_camera_publisher(this, pub_topic, rmw_qos_profile_default,
+  pub_ = image_transport::create_camera_publisher(*this,
+      pub_topic, rmw_qos_profile_default,
       pub_options);
 }
 

image_proc/src/crop_non_zero.cpp

@@ -72,17 +72,18 @@ CropNonZeroNode::CropNonZeroNode(const rclcpp::NodeOptions & options)
       } else if (!sub_raw_) {
         // Create subscriber with QoS matched to subscribed topic publisher
         auto qos_profile = getTopicQosProfile(this, image_topic_);
-        image_transport::TransportHints hints(this);
+        image_transport::TransportHints hints{*this};
         sub_raw_ = image_transport::create_subscription(
-          this, image_topic_, std::bind(
+          *this, image_topic_, std::bind(
             &CropNonZeroNode::imageCb, this,
             std::placeholders::_1), hints.getTransport(), qos_profile);
       }
     };
 
   // Create publisher - allow overriding QoS settings (history, depth, reliability)
   pub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
-  pub_ = image_transport::create_publisher(this, pub_topic, rmw_qos_profile_default, pub_options);
+  pub_ = image_transport::create_publisher(*this, pub_topic,
+      rmw_qos_profile_default, pub_options);
 }
 
 void CropNonZeroNode::imageCb(const sensor_msgs::msg::Image::ConstSharedPtr & raw_msg)

image_proc/src/debayer.cpp

@@ -75,9 +75,9 @@ DebayerNode::DebayerNode(const rclcpp::NodeOptions & options)
       } else if (!sub_raw_) {
         // Create subscriber with QoS matched to subscribed topic publisher
         auto qos_profile = getTopicQosProfile(this, image_topic_);
-        image_transport::TransportHints hints(this);
+        image_transport::TransportHints hints{*this};
         sub_raw_ = image_transport::create_subscription(
-          this, image_topic_,
+          *this, image_topic_,
           std::bind(
             &DebayerNode::imageCb, this,
             std::placeholders::_1), hints.getTransport(), qos_profile);
@@ -86,9 +86,11 @@ DebayerNode::DebayerNode(const rclcpp::NodeOptions & options)
 
   // Create publisher - allow overriding QoS settings (history, depth, reliability)
   pub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
-  pub_mono_ = image_transport::create_publisher(this, mono_topic, rmw_qos_profile_default,
+  pub_mono_ = image_transport::create_publisher(*this,
+      mono_topic, rmw_qos_profile_default,
       pub_options);
-  pub_color_ = image_transport::create_publisher(this, color_topic, rmw_qos_profile_default,
+  pub_color_ = image_transport::create_publisher(*this,
+      color_topic, rmw_qos_profile_default,
       pub_options);
 }
 

image_proc/src/rectify.cpp

@@ -73,17 +73,18 @@ RectifyNode::RectifyNode(const rclcpp::NodeOptions & options)
       } else if (!sub_camera_) {
         // Create subscriber with QoS matched to subscribed topic publisher
         auto qos_profile = getTopicQosProfile(this, image_topic_);
-        image_transport::TransportHints hints(this);
+        image_transport::TransportHints hints{*this};
         sub_camera_ = image_transport::create_camera_subscription(
-          this, image_topic_, std::bind(
+          *this, image_topic_, std::bind(
             &RectifyNode::imageCb,
             this, std::placeholders::_1, std::placeholders::_2), hints.getTransport(), qos_profile);
       }
     };
 
   // Create publisher - allow overriding QoS settings (history, depth, reliability)
   pub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
-  pub_rect_ = image_transport::create_publisher(this, "image_rect", rmw_qos_profile_default,
+  pub_rect_ = image_transport::create_publisher(*this,
+      "image_rect", rmw_qos_profile_default,
       pub_options);
 }
 

image_proc/src/resize.cpp

@@ -79,9 +79,9 @@ ResizeNode::ResizeNode(const rclcpp::NodeOptions & options)
       } else if (!sub_image_) {
         // Create subscriber with QoS matched to subscribed topic publisher
         auto qos_profile = getTopicQosProfile(this, image_topic_);
-        image_transport::TransportHints hints(this);
+        image_transport::TransportHints hints{*this};
         sub_image_ = image_transport::create_camera_subscription(
-          this, image_topic_,
+          *this, image_topic_,
           std::bind(
             &ResizeNode::imageCb, this,
             std::placeholders::_1,
@@ -92,7 +92,8 @@ ResizeNode::ResizeNode(const rclcpp::NodeOptions & options)
   // Create publisher - allow overriding QoS settings (history, depth, reliability)
   pub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
   pub_image_ =
-    image_transport::create_camera_publisher(this, pub_topic, rmw_qos_profile_default, pub_options);
+    image_transport::create_camera_publisher(*this, pub_topic,
+      rmw_qos_profile_default, pub_options);
 }
 
 void ResizeNode::imageCb(

image_proc/src/track_marker.cpp

@@ -87,9 +87,9 @@ TrackMarkerNode::TrackMarkerNode(const rclcpp::NodeOptions & options)
       } else if (!sub_camera_) {
         // Create subscriber with QoS matched to subscribed topic publisher
         auto qos_profile = getTopicQosProfile(this, image_topic_);
-        image_transport::TransportHints hints(this);
+        image_transport::TransportHints hints{*this};
         sub_camera_ = image_transport::create_camera_subscription(
-          this, image_topic_, std::bind(
+          *this, image_topic_, std::bind(
             &TrackMarkerNode::imageCb,
             this, std::placeholders::_1, std::placeholders::_2),
           hints.getTransport(), qos_profile);

image_proc/test/rostest.cpp

@@ -80,7 +80,7 @@ class ImageProcTest
     }
 
     // Create raw camera publisher
-    image_transport::ImageTransport it(this->node);
+    image_transport::ImageTransport it{*node};
     cam_pub = it.advertiseCamera(topic_raw, 1);
 
     while (true) {

image_proc/test/test_rectify.cpp

@@ -145,7 +145,7 @@ class ImageProcRectifyTest
       });
 
     // Create raw camera subscriber and publisher
-    image_transport::ImageTransport it(node);
+    image_transport::ImageTransport it{*node};
     cam_pub_ = it.advertiseCamera(topic_raw_, 1);
   }
 
@@ -194,7 +194,7 @@ class ImageProcRectifyTest
 TEST_F(ImageProcRectifyTest, rectifyTest)
 {
   RCLCPP_INFO(node->get_logger(), "In test. Subscribing.");
-  image_transport::ImageTransport it(node);
+  image_transport::ImageTransport it{*node};
   cam_sub_ = it.subscribe(
     topic_rect_, rclcpp::SensorDataQoS().get_rmw_qos_profile(),
     &ImageProcRectifyTest::imageCallback,

image_publisher/src/image_publisher.cpp

@@ -66,8 +66,11 @@ ImagePublisher::ImagePublisher(
   std::string topic_name = node_base->resolve_topic_or_service_name("image_raw", false);
   rclcpp::PublisherOptions pub_options;
   pub_options.qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies();
-  pub_ = image_transport::create_camera_publisher(this, topic_name, rmw_qos_profile_default,
-      pub_options);
+  pub_ = image_transport::create_camera_publisher(
+    *this,
+    topic_name,
+    rmw_qos_profile_default,
+    pub_options);
 
   field_of_view_ = this->declare_parameter("field_of_view", static_cast<double>(0));
   flip_horizontal_ = this->declare_parameter("flip_horizontal", false);
@@ -137,7 +140,10 @@ void ImagePublisher::reconfigureCallback()
     std::chrono::milliseconds(static_cast<int>(1000 / publish_rate_)),
     std::bind(&ImagePublisher::doWork, this));
 
-  camera_info_manager::CameraInfoManager c(this);
+  camera_info_manager::CameraInfoManager c(
+    this->get_node_base_interface(),
+    this->node_services_interface(),
+    this->get_logger_logging_interfac());
   if (!camera_info_url_.empty()) {
     RCLCPP_INFO(get_logger(), "camera_info_url: %s", camera_info_url_.c_str());
     try {