From bc710892d4b30ce14163a59645ad79150501dbd1 Mon Sep 17 00:00:00 2001
From: Christian Rauch <Rauch.Christian@gmx.de>
Date: Sat, 16 Mar 2024 11:00:36 +0100
Subject: [PATCH] resolve topic name before applying the image transport suffix

---
 src/AprilTagNode.cpp | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/src/AprilTagNode.cpp b/src/AprilTagNode.cpp
index 5be0d32..5f646a3 100644
--- a/src/AprilTagNode.cpp
+++ b/src/AprilTagNode.cpp
@@ -98,7 +98,12 @@ AprilTagNode::AprilTagNode(const rclcpp::NodeOptions& options)
     cb_parameter(add_on_set_parameters_callback(std::bind(&AprilTagNode::onParameter, this, std::placeholders::_1))),
     td(apriltag_detector_create()),
     // topics
-    sub_cam(image_transport::create_camera_subscription(this, "image_rect", std::bind(&AprilTagNode::onCamera, this, std::placeholders::_1, std::placeholders::_2), declare_parameter("image_transport", "raw", descr({}, true)), rmw_qos_profile_sensor_data)),
+    sub_cam(image_transport::create_camera_subscription(
+        this,
+        this->get_node_topics_interface()->resolve_topic_name("image_rect"),
+        std::bind(&AprilTagNode::onCamera, this, std::placeholders::_1, std::placeholders::_2),
+        declare_parameter("image_transport", "raw", descr({}, true)),
+        rmw_qos_profile_sensor_data)),
     pub_detections(create_publisher<apriltag_msgs::msg::AprilTagDetectionArray>("detections", rclcpp::QoS(1))),
     tf_broadcaster(this)
 {