Publish audio_info on a schedule

Make sure that latecomers can get the codec details.
ros-drivers · Aug 14, 2023 · 4d9b198 · 4d9b198
1 parent e6c10f0
commit 4d9b198
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/audio_capture/src/audio_capture_node.cpp b/audio_capture/src/audio_capture_node.cpp
@@ -164,6 +164,12 @@ namespace audio_capture
 
         _gst_thread = boost::thread( boost::bind(g_main_loop_run, _loop) );
 
+        _timer_info = rclcpp::create_timer(this, get_clock(), std::chrono::seconds(5), [this] { publishInfo(); });
+        publishInfo();
+      }
+
+      void publishInfo() {
+
         audio_common_msgs::msg::AudioInfo info_msg;
         info_msg.channels = _channels;
         info_msg.sample_rate = _sample_rate;
@@ -247,6 +253,8 @@ namespace audio_capture
       rclcpp::Publisher<audio_common_msgs::msg::AudioDataStamped>::SharedPtr _pub_stamped;
       rclcpp::Publisher<audio_common_msgs::msg::AudioInfo>::SharedPtr _pub_info;
 
+      rclcpp::TimerBase::SharedPtr _timer_info;
+
       boost::thread _gst_thread;
 
       GstElement *_pipeline, *_source, *_filter, *_sink, *_convert, *_encode;