[ROS2] Node pointer from a LifecycleNode
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](https://answers.ros.org/question/302459/ros2-tf2_rostransformbroadcaster-and-rclcpp_lifecyclelifecyclenode/)]
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 ;)
Have you heard anything with regards to this?
There is an open ticket for image transport: https://github.com/ros-perception/ima... I believe the same changes as for geometry2 can easily be applied for the image transport.
@Karsten Can you reference the link to the changes in geometry2? Thank you.
PR108, i.e. changes like these: https://github.com/ros2/geometry2/pul... Essentially everything which was a
rclcpp::Nodebefore becomes a templatedNode &&. The free functions likerclcpp::create_subscriptiontake anything "node-like".Any news about this? @Karsten@surfertas
I don't have any updates on this rather than what I mentioned earlier, that a change to make this work shouldn't be too complicated. I propose to continue the conversation on the referenced github ticket.