Hi all,

the problem of LifecycleNode pointers support comes back.

Using ROS2 Bouncy I could not directly publish TF because the broadcaster creator requires only a rclcpp::Node pointer as initialization parameter [see the related post]

In ROS2 Crystal the problem reappears with image_transport.

Indeed also the functions image_transport::create_publisher and image_transport::create_camera_publisher can be initialized only using a rclcpp::Node pointer.

LifecycleNode is a very useful feature introduced in ROS2, but developers think yet with an eye on ROS1 and they do not take care about the new kind of nodes...

I think that this is a very annoying problem.

PS the only solution that I can imagine is to create a rclcpp::Node component that subscribes to sensor_msgs::msg::Image topics and republish them using image_transport... this is absurd ;)