What Makes a Good Sensor Package? + A List of ROS 2 Sensors

[mikeferguson]

@Akashleena

In ROS 1, the SubscriberStatusCallback was a key element in image pipeline to coordinate the sequence of nodes from layering to rectification. ROS 2 lacks this callback requiring frequent checks to find active subscribers. How are you achieving similar results in ROS 2?

You don’t have this in Humble - but the connect/disconnect callback support was added in Iron and proper support was added to image_common.

• You can see an example of how this is used in image_pipeline in Jazzy along with links to the related PRs in RMW and image_common - add support for lazy subscribers by mikeferguson · Pull Request #815 · ros-perception/image_pipeline · GitHub)
• Openni2_camera also supports this in Jazzy via this PR: implement proper lazy subscribers by mikeferguson · Pull Request #136 · ros-drivers/openni2_camera · GitHub