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Package proposal

polled_camera contains a service definition for requesting polled images, as well as C++ server/client wrappers to simplify publishing and receiving polled images.

Under the scheme used by the old Prosilica node, polling was done entirely by service call. The client called the service specifying a region of interest, and the response contained the Image and CameraInfo. This had a number of problems:

Under the new scheme:

Blaise and I agreed on the service/topic structure following discussions at ticked #3180.

The new scheme requires the driver to do some bookkeeping to keep track of polled topics. This is wrapped up in the C++ helper class polled_camera::PublicationServer (API, currently lives in prosilica_camera). This handles all of the communication; the driver need only provide a callback that fills in the Image and CameraInfo messages.

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2019-08-10 12:56