Initial Merging: Setting up ImageSaverNode

image_view/doc/components.rst

@@ -31,7 +31,7 @@ This tool allows you to save images as jpg/png file from streaming
 can run with:
 
 .. code-block:: bash
-    
+
     ros2 run image_view image_saver --ros-args -r image:=[your topic]
 
 or see this answer to control the timing of capture.
@@ -74,7 +74,7 @@ This tool allows you to save images as jpg/png file from streaming
 can run with:
 
 .. code-block:: bash
-    
+
     ros2 run image_view image_saver --ros-args -r image:=[your topic]
 
 or see this answer to control the timing of capture.
@@ -93,7 +93,7 @@ Services
 Parameters
 ----------
  * **encoding** (string, default:"bgr8"): Encoding type of input image topic.
- * **filename_format** (string, default: "left%04i.jpg"): File name for
+ * **filename_format** (string, default: "frame%04i.jpg"): File name for
    saved images, you can use '%04i' for sequence number, and '%s' for default
    file format, you can use 'jpg' ,'png', 'pgm' as filename suffixes.
  * **image_transport** (string, default: raw): Image transport to use.

image_view/include/image_view/image_saver_node.hpp

@@ -68,6 +68,7 @@ class ImageSaverNode
 
 private:
   std::string g_format;
+  double fps_;
   bool stamped_filename_;
   bool save_all_image_{false};
   bool save_image_service_{false};

image_view/src/image_saver_node.cpp

@@ -93,7 +93,8 @@ ImageSaverNode::ImageSaverNode(const rclcpp::NodeOptions & options)
       &ImageSaverNode::callbackWithoutCameraInfo, this, std::placeholders::_1),
     hints.getTransport());
 
-  g_format = this->declare_parameter("filename_format", std::string("left%04i.%s"));
+  g_format = this->declare_parameter("filename_format", std::string("frame%04i.%s"));
+  fps_ = this->declare_parameter("fps", 0.1);
   encoding_ = this->declare_parameter("encoding", std::string("bgr8"));
   save_all_image_ = this->declare_parameter("save_all_image", true);
   stamped_filename_ = this->declare_parameter("stamped_filename", false);
@@ -125,6 +126,7 @@ bool ImageSaverNode::saveImage(
 {
   cv::Mat image;
   try {
+    encoding_ = image_msg->encoding;
     image = cv_bridge::toCvShare(image_msg, encoding_)->image;
   } catch (const cv_bridge::Exception &) {
     RCLCPP_ERROR(