Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Currently, camera_info only gets published if there is a subscriber for image_raw, since they are bundled with a camera publisher. However, I have an application that only needs the rectified image, but also the camera info. In this case, the camera info is not received.
I changed the node so that the camera_info is published separately if there is no image_raw subscriber, but a camera_info subscriber. Additionally, the subscriber count is now only retrieved once before grabbing the image, because otherwise, there could potentially be a race condition when a subscriber is added after checking if an image needs to be grabbed.