[forward port] Image publishers use SensorDataQoSProfile (#1031) (#1052)

All other sensor publishers were updated previously to use the same profile (#926).
I'm not sure if the image publishers were overlooked or the image_transport API didn't
support setting the QoS profile at the time.

Signed-off-by: Jacob Perron <[email protected]>

gazebo_plugins/src/gazebo_ros_camera.cpp

@@ -182,7 +182,7 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
       image_transport::create_publisher(
         impl_->ros_node_.get(),
         camera_topic,
-        qos.get_publisher_qos(camera_topic).get_rmw_qos_profile()));
+        qos.get_publisher_qos(camera_topic, rclcpp::SensorDataQoS()).get_rmw_qos_profile()));
 
     // TODO(louise) Uncomment this once image_transport::Publisher has a function to return the
     // full topic.
@@ -208,7 +208,8 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
       impl_->image_pub_.push_back(
         image_transport::create_publisher(
           impl_->ros_node_.get(),
-          camera_topic, qos.get_publisher_qos(camera_topic).get_rmw_qos_profile()));
+          camera_topic,
+          qos.get_publisher_qos(camera_topic, rclcpp::SensorDataQoS()).get_rmw_qos_profile()));
 
       // RCLCPP_INFO(
       //   impl_->ros_node_->get_logger(), "Publishing %s camera images to [%s]",
@@ -235,7 +236,7 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
     impl_->depth_image_pub_ = image_transport::create_publisher(
       impl_->ros_node_.get(),
       depth_topic,
-      qos.get_publisher_qos(depth_topic).get_rmw_qos_profile());
+      qos.get_publisher_qos(depth_topic, rclcpp::SensorDataQoS()).get_rmw_qos_profile());
 
     // RCLCPP_INFO(impl_->ros_node_->get_logger(), "Publishing depth images to [%s]",
     //   impl_->depth_image_pub_.getTopic().c_str());