Program Listing for File utils.hpp

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// Copyright 2023 Willow Garage, Inc., Michal Wojcik
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#ifndef IMAGE_PROC__UTILS_HPP_
#define IMAGE_PROC__UTILS_HPP_

#include <string>

#include <rclcpp/rclcpp.hpp>

namespace image_proc
{

rmw_qos_profile_t getTopicQosProfile(rclcpp::Node * node, const std::string & topic)
{
  std::string topic_resolved = node->get_node_base_interface()->resolve_topic_or_service_name(
    topic, false);
  auto topics_info = node->get_publishers_info_by_topic(topic_resolved);
  if (topics_info.size()) {
    auto profile = topics_info[0].qos_profile().get_rmw_qos_profile();
    profile.history = rmw_qos_profile_sensor_data.history;
    profile.depth = rmw_qos_profile_sensor_data.depth;
    return profile;
  } else {
    return rmw_qos_profile_sensor_data;
  }
}

}  // namespace image_proc

#endif  // IMAGE_PROC__UTILS_HPP_