Support QoS override parameters in depth_image_proc/register

[skalldri]

Hi! This is my first PR to ROS2. Please let me know if there are steps I'm missing or additional things you'd like me to check.

This PR adds support to the depth_image_proc - register node for setting External QoS Configuration on topic subscriptions.

Why?

Sensors are often published with the SENSOR_DATA profile, which cannot be read by subscribers expecting the default QoS profile, as the default profile specifies a reliability == reliable requirement. The SENSOR_DATA profile uses reliability == best_effort, making these publishers and subscribers incompatible.

Because depth_image_proc - register does not provide a way to modify the expected QoS of the topic subscriptions, it cannot subscribe to topics published by other nodes which use the SENSOR_DATA profile.

ROS2's solution to this common problem is to allow External QoS Configuration through the parameter system. While depth_image_proc - register supports External QoS Configuration on published topics, it does not support it on subscribed topics.

This PR adds support for External QoS configuration on subscribed topics.

How?

• Add the same qos_overriding_options = rclcpp::QosOverridingOptions::with_default_policies() option to all topic subscriptions that is also used on the topic publishers

Testing

• Compiled on latest pull of ROS2 Rolling

$ colcon build --packages-up-to depth_image_proc
Starting >>> tracetools_image_pipeline
Finished <<< tracetools_image_pipeline [0.22s]
Starting >>> image_proc
Finished <<< image_proc [0.58s]
Starting >>> depth_image_proc
Finished <<< depth_image_proc [20.3s]

Summary: 3 packages finished [21.3s]

• Compiled and live-tested on ROS2 Jazzy (jazzy branch of my fork). This is the same change that was applied to rolling
• Recompiled depth_image_proc and launched with QoS remapping arguments using a launch file (on an in-progress robot project):

    Node(
            package='depth_image_proc', 
            executable='register_node', 
            name='depth_register',
            parameters=[
                {'qos_overrides./loomo/realsense/color/image_color/camera_info.subscription.reliability': 'best_effort'},
                {'qos_overrides./loomo/realsense/depth/image_depth/camera_info.subscription.reliability': 'best_effort'},
                {'qos_overrides./loomo/realsense/depth/image_depth.subscription.reliability': 'best_effort'},
            ],
            remappings={
                # in
                ('rgb/camera_info', '/loomo/realsense/color/image_color/camera_info'),
                ('depth/camera_info', '/loomo/realsense/depth/image_depth/camera_info'), 
                ('depth/image_rect', '/loomo/realsense/depth/image_depth'),
                # out
                ('depth_registered/camera_info', '/loomo_synthetic/realsense/depth_registered/image_depth/camera_info'),
                ('depth_registered/image_rect', '/loomo_synthetic/realsense/depth_registered/image_depth')
            },
        ),

Checked for the presence of new parameters in rqt_gui:

• Observed that new QoS Parameters for subscribed topics are present and are being set by the launch parameters
• Observed that depth_image_proc - register is now accepting messages from topics publishing with the SENSOR_DATA QoS profile with QoS overrides applied

[ahcorde]

Thank you for your contribution. Hopefully this is the first contribution and there will be much more!

Linters are failing https://build.ros2.org/job/Rpr__image_pipeline__ubuntu_noble_amd64/60/

Do you mind to take a look?

[mikeferguson]

Thanks for the contribution! Looks like the only issue is the linting - should be easy to fix up - the recommended change for line length is on this page: https://build.ros2.org/job/Rpr__image_pipeline__ubuntu_noble_amd64/60/testReport/junit/depth_image_proc/uncrustify/src_register_cpp/

Searching for SubscriptionOptions in the codebase, I find that we only have that for like 3 nodes... so I think I actually missed doing like half of the work in #847 - I got the publishers setup with QoS Overrides, but missed it for the Subscribers, whoops.

[skalldri]

Thank you both for taking a look. I absolutely will fixup the linting! Unfortunately my region got hit by a very bad storm last night and I currently have no power or internet, so I will fix the linting issues once power and Internet is restored in a few days.

[skalldri]

My latest commit should resolve the lint issues! colcon test now passes locally:

$ colcon test --packages-up-to depth_image_proc
Starting >>> tracetools_image_pipeline
Finished <<< tracetools_image_pipeline [1.25s]          
Starting >>> image_proc
Finished <<< image_proc [7.66s]          
Starting >>> depth_image_proc
Finished <<< depth_image_proc [2.80s]           

Summary: 3 packages finished [11.9s]

[ahcorde]

https://github.com/Mergifyio backport jazzy

[mergify]

backport jazzy

✅ Backports have been created

• #1044 Support QoS override parameters in depth_image_proc/register (backport #1043) has been created for branch jazzy but encountered conflicts