Function depthai_ros_driver::dai_nodes::sensor_helpers::splitPub

Function Documentation

void depthai_ros_driver::dai_nodes::sensor_helpers::splitPub(const std::string&, const std::shared_ptr<dai::ADatatype> &data, dai::ros::ImageConverter &converter, rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr imgPub, rclcpp::Publisher<sensor_msgs::msg::CameraInfo>::SharedPtr infoPub, std::shared_ptr<camera_info_manager::CameraInfoManager> infoManager, bool lazyPub = true)