update

src/ros_viz_adapter/CMakeLists.txt

@@ -8,9 +8,10 @@ find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(image_transport REQUIRED)
+find_package(pluginlib REQUIRED)
 
 add_executable(adapter src/adapter.cpp)
-ament_target_dependencies(adapter rclcpp sensor_msgs image_transport)
+ament_target_dependencies(adapter rclcpp sensor_msgs image_transport pluginlib)
 install(TARGETS adapter DESTINATION lib/${PROJECT_NAME})
 install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
 install(FILES README.md DESTINATION share/${PROJECT_NAME})

src/ros_viz_adapter/README.md

@@ -6,10 +6,10 @@ YAML 配置文件。节点自动发现 `sensor_msgs/msg/Image` 和
 
 ## 输出
 
-- RGB：通过 `image_transport` 发布 base topic `/viz/<source>/rgb`。
-  安装 `compressed_image_transport` 后，平台订阅其 `/compressed` 传输。
-- 深度：通过 `image_transport` 发布 base topic `/viz/<source>/depth`。
-  安装 `compressed_depth_image_transport` 后，平台订阅其 `/compressedDepth`。
+- RGB：直接加载 `image_transport/compressed_pub`，只发布其
+  `/viz/<source>/rgb/compressed` 传输 topic，不创建 raw base topic。
+- 深度：直接加载 `image_transport/compressedDepth_pub`，只发布其
+  `/viz/<source>/depth/compressedDepth` 传输 topic，不创建 raw base topic。
 - 点云：`/viz/<source>/points`，消息仍为 `sensor_msgs/msg/PointCloud2`，但只保留
   `x/y/z`，去除 NaN，执行体素降采样、最大点数限制和限频。
 
@@ -20,6 +20,7 @@ YAML 配置文件。节点自动发现 `sensor_msgs/msg/Image` 和
 ## 运行
 
 ```bash
+colcon build --packages-select ros_viz_adapter --symlink-install
 ros2 launch ros_viz_adapter adapter.launch.py
 ```
 
@@ -29,6 +30,7 @@ ros2 launch ros_viz_adapter adapter.launch.py
 output_namespace      默认 /viz
 input_fps_limit       默认 30，回调入口丢弃超频帧
 output_fps            默认 10，处理线程输出上限
+jpeg_quality          默认 80，范围 1-100
 voxel_size_m          默认 0.05
 max_points            默认 100000
 ```
@@ -77,7 +79,9 @@ ros2 run ros_viz_adapter adapter
 ### 独立 ROS 容器或 sidecar
 
 适配器容器与用户容器必须使用相同的 `ROS_DOMAIN_ID`、`RMW_IMPLEMENTATION` 和可互相发现的
-ROS 2 网络。适配器容器只需安装本包及 image_transport 压缩插件，不需要复制用户项目代码。
+ROS 2 网络。适配器容器只需安装本包、`compressed_image_transport` 和
+`compressed_depth_image_transport`，不需要复制用户项目代码。代码只加载上述两个
+指定插件，不遍历或加载 Theora 插件。
 
 ### 多容器隔离
 

src/ros_viz_adapter/package.xml

@@ -9,6 +9,7 @@
   <depend>rclcpp</depend>
   <depend>sensor_msgs</depend>
   <depend>image_transport</depend>
+  <depend>pluginlib</depend>
   <exec_depend>compressed_image_transport</exec_depend>
   <exec_depend>compressed_depth_image_transport</exec_depend>
   <export><build_type>ament_cmake</build_type></export>

src/ros_viz_adapter/src/adapter.cpp

@@ -12,7 +12,8 @@
 #include <unordered_set>
 #include <vector>
 
-#include "image_transport/image_transport.hpp"
+#include "image_transport/publisher_plugin.hpp"
+#include "pluginlib/class_loader.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "sensor_msgs/msg/image.hpp"
 #include "sensor_msgs/msg/point_cloud2.hpp"
@@ -103,8 +104,8 @@ private:
     wake_.notify_all();
   }
 
-  std::string base(const std::string & topic, bool depth) const {
-    return (output_ns_.empty() ? "/viz" : output_ns_) + "/" + safe_name(topic) + (depth ? "/depth" : "/rgb");
+  std::string image_topic(const std::string & topic, bool depth) const {
+    return (output_ns_.empty() ? "/viz" : output_ns_) + "/" + safe_name(topic) + (depth ? "/depth/compressedDepth" : "/rgb/compressed");
   }
 
   void image_loop(std::unordered_map<std::string, Image::ConstSharedPtr> & slots, bool depth) {
@@ -121,10 +122,17 @@ private:
         std::lock_guard<std::mutex> lock(pub_mutex_);
         auto it = image_publishers_.find(key);
         if (it == image_publishers_.end()) {
-          auto pub = image_transport::create_publisher(this, base(item.first, depth), qos_.get_rmw_qos_profile());
-          it = image_publishers_.emplace(key, std::move(pub)).first;
+          const auto lookup = depth ? "image_transport/compressedDepth_pub" : "image_transport/compressed_pub";
+          try {
+            auto plugin = image_loader_->createSharedInstance(lookup);
+            plugin->advertise(this, image_topic(item.first, depth), qos_.get_rmw_qos_profile());
+            it = image_publishers_.emplace(key, std::move(plugin)).first;
+          } catch (const pluginlib::PluginlibException & ex) {
+            RCLCPP_ERROR(get_logger(), "Cannot load image_transport plugin %s: %s", lookup, ex.what());
+            continue;
+          }
         }
-        it->second.publish(item.second);
+        it->second->publishPtr(item.second);
       }
     }
   }
@@ -175,13 +183,15 @@ private:
   }
 
   std::string output_ns_; double input_fps_{30.0}, output_fps_{10.0}, voxel_{0.05}; int max_points_{100000};
+  std::shared_ptr<pluginlib::ClassLoader<image_transport::PublisherPlugin>> image_loader_{
+    std::make_shared<pluginlib::ClassLoader<image_transport::PublisherPlugin>>("image_transport", "image_transport::PublisherPlugin")};
   rclcpp::QoS qos_{rclcpp::SensorDataQoS()}; rclcpp::TimerBase::SharedPtr timer_;
   std::atomic_bool stop_{false}; std::mutex data_mutex_, rate_mutex_, pub_mutex_; std::condition_variable wake_;
   std::thread rgb_thread_, depth_thread_, cloud_thread_;
   std::unordered_map<std::string, rclcpp::Subscription<Image>::SharedPtr> subscriptions_; std::unordered_map<std::string, rclcpp::Subscription<PointCloud2>::SharedPtr> cloud_subscriptions_;
   std::unordered_map<std::string, Image::ConstSharedPtr> rgb_latest_, depth_latest_; std::unordered_map<std::string, PointCloud2::ConstSharedPtr> cloud_latest_;
   std::unordered_map<std::string, std::chrono::steady_clock::time_point> input_times_, output_times_;
-  std::unordered_map<std::string, image_transport::Publisher> image_publishers_; std::unordered_map<std::string, rclcpp::Publisher<PointCloud2>::SharedPtr> cloud_publishers_;
+  std::unordered_map<std::string, std::shared_ptr<image_transport::PublisherPlugin>> image_publishers_; std::unordered_map<std::string, rclcpp::Publisher<PointCloud2>::SharedPtr> cloud_publishers_;
 };
 
 int main(int argc, char ** argv) { rclcpp::init(argc, argv); auto node = std::make_shared<Adapter>(); rclcpp::spin(node); rclcpp::shutdown(); return 0; }