From eb448ae0e79e3e192dafd85a625756a91b453b83 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Wed, 12 Oct 2022 00:25:12 +0600
Subject: [PATCH] main_camera.launch: run image_raw_throttled topic by default
 (#248)

---
 clover/launch/main_camera.launch | 6 ++++++
 clover/test/basic.test           | 3 +++
 docs/en/camera.md                | 2 ++
 docs/ru/camera.md                | 2 ++
 4 files changed, 13 insertions(+)

diff --git a/clover/launch/main_camera.launch b/clover/launch/main_camera.launch
index 312a0f15..8e932ce4 100644
--- a/clover/launch/main_camera.launch
+++ b/clover/launch/main_camera.launch
@@ -4,6 +4,8 @@
     <arg name="direction_z" default="down"/> <!-- direction the camera points: down, up -->
     <arg name="direction_y" default="backward"/> <!-- direction the camera cable points: backward, forward -->
     <arg name="device" default="/dev/video0"/> <!-- v4l2 device -->
+    <arg name="throttled_topic" default="true"/> <!-- enable throttled image topic -->
+    <arg name="throttled_topic_rate" default="5.0"/> <!-- throttled image topic rate -->
     <arg name="simulator" default="false"/>
 
     <node if="$(eval direction_z == 'down' and direction_y == 'backward')" pkg="tf2_ros" type="static_transform_publisher" name="main_camera_frame" args="0.05 0 -0.07 -1.5707963 0 3.1415926 base_link main_camera_optical"/>
@@ -43,4 +45,8 @@
     <node pkg="clover" type="camera_markers" ns="main_camera" name="main_camera_markers">
         <param name="scale" value="3.0"/>
     </node>
+
+    <!-- image topic throttled -->
+    <node pkg="topic_tools" name="main_camera_throttle" type="throttle" ns="main_camera"
+        args="messages image_raw $(arg throttled_topic_rate) image_raw_throttled" if="$(arg throttled_topic)"/>
 </launch>
diff --git a/clover/test/basic.test b/clover/test/basic.test
index 3aac7f10..bd5366f0 100755
--- a/clover/test/basic.test
+++ b/clover/test/basic.test
@@ -37,6 +37,9 @@
 
     <node name="clover_blocks" pkg="clover_blocks" type="clover_blocks" output="screen" required="true"/>
 
+    <node pkg="topic_tools" name="main_camera_throttle" type="throttle" ns="main_camera"
+        args="messages image_raw 5.0 image_raw_throttled" required="true"/>
+
     <param name="test_module" value="$(find clover)/test/basic.py"/>
     <test test-name="basic_test" pkg="ros_pytest" type="ros_pytest_runner"/>
 </launch>
diff --git a/docs/en/camera.md b/docs/en/camera.md
index bbf68d87..ba0dbd3a 100644
--- a/docs/en/camera.md
+++ b/docs/en/camera.md
@@ -145,6 +145,8 @@ rospy.spin()
 
 The script will take up to 100% CPU capacity. To slow down the script artificially, you can use [throttling](http://wiki.ros.org/topic_tools/throttle) of frames from the camera, for example, at 5 Hz (`main_camera.launch`):
 
+> **Note** Starting from [image](image.md) version **0.24** `image_raw_throttled` topic is available without addition configuration.
+
 ```xml
 <node pkg="topic_tools" name="cam_throttle" type="throttle"
     args="messages main_camera/image_raw 5.0 main_camera/image_raw_throttled"/>
diff --git a/docs/ru/camera.md b/docs/ru/camera.md
index 7d90084e..0f9b6a14 100644
--- a/docs/ru/camera.md
+++ b/docs/ru/camera.md
@@ -147,6 +147,8 @@ rospy.spin()
 
 Скрипт будет занимать 100% процессора. Для искусственного замедления работы скрипта можно запустить [throttling](http://wiki.ros.org/topic_tools/throttle) кадров с камеры, например, в 5 Гц (`main_camera.launch`):
 
+> **Note** Начиная с версии [образа](image.md) **0.24** топик `image_raw_throttled` доступен без дополнительной конфигурации.
+
 ```xml
 <node pkg="topic_tools" name="cam_throttle" type="throttle"
     args="messages main_camera/image_raw 5.0 main_camera/image_raw_throttled"/>