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How to deactivate image_transport plugins?

asked 2017-03-02 02:04:35 -0500

Stanley666 gravatar image

Hi

I would like to deactivate image_transport plugins from a launch file. My robot has many cameras and I am not using the compressed images. It would save CPU time if I can do that. I would prefer a solution involving a launch file since other members of my team may use those compressed images. If you have no solution with a launch file, I am open to any suggestion.

Thanks in advance

Stanley

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I'm going to take a look at adding this feature to image_transport. Though I believe in your case the compression is not actually performed unless there is a subscriber on that topic, so there shouldn't be much cpu load (but it still would be nice to disable undesired plugins).

lucasw gravatar imagelucasw ( 2017-03-17 17:39:27 -0500 )edit

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answered 2017-03-17 18:47:07 -0500

lucasw gravatar image

updated 2017-11-13 15:07:43 -0500

https://github.com/ros-perception/ima... hydro-devel branch now has a disabling plugins feature merged in:

rosparam set /camera/image/disable_pub_plugins "['image_transport/compressedDepth', 'image_transport/theora']"
rosrun image_transport_tutorial my_publisher

And also the launch file equivalent:

<node name="my_publisher" pkg="image_transport_tutorial" type="my_publisher" />
<group ns="camera/image" >
  <rosparam param="disable_pub_plugins">
    - 'image_transport/compressedDepth'
    - 'image_transport/theora'
  </rosparam>
</group>
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Asked: 2017-03-02 02:04:35 -0500

Seen: 2,331 times

Last updated: Nov 13 '17