Use DiagnosticNodelet instead of ConnectionBasedNodelet.

[iory]

Modified all ConnectionBasedNodelets in jsk_recognition to DiagnosticNodelet.

$ cd jsk_recognition
$ grep ConnectionBasedNodelet -l -r --include='*.h' . | wc
0       0       0
$ grep ConnectionBasedNodelet -l -r --include='*.hpp' . | wc
0       0       0

Also, DiagnosticsNodelet requires poke.
There are many PRs out there that add poke, and this PR also added poke for all nodelets that do not have poke.
#2690
#2710
#2203

$ cd jsk_recognition
$ grep 'DiagnosticNodelet::onInit' -r . -l | xargs grep -L poke | sort
./.git/logs/HEAD
./.git/logs/refs/heads/reset-sync-policy
./resized_image_transport/src/image_resizer_nodelet.cpp
./resized_image_transport/src/log_polar_nodelet.cpp

The nodes of resized_image_transport inherit from image_processing_nodelet, and poke is called inside image_processing_nodelet.

jsk_recognition/resized_image_transport/src/image_processing_nodelet.cpp

Lines 141 to 157 in 09cbce5

	void ImageProcessing::info_cb(const sensor_msgs::CameraInfoConstPtr &msg) {
	boost::mutex::scoped_lock lock(mutex_);
	info_vital_->poke();
	info_msg_ = msg;
	}
	void ImageProcessing::image_nonsync_cb(const sensor_msgs::ImageConstPtr& msg) {
	{
	boost::mutex::scoped_lock lock(mutex_);
	image_vital_->poke();
	if (!info_msg_) {
	NODELET_WARN_THROTTLE(1, "camera info is not yet available");
	return;
	}
	}
	callback(msg, info_msg_);
	}

[k-okada]

if this code depends on jsk_topic_tools >= x.x.x, I would recommend to write something like PR2/pr2_mechanism@c2d2d7e#diff-b32b543817fc81911592c454ab29c1d29f6ce7cd2ab6dcd3a374014568a2ee55R81-R85

instead of using -DJSK_TOPIC_TOOLS_X_X_XAPI , will we introduce jsk_topic_tools_version.h ???(https://github.com/jsk-ros-pkg/jsk_common/blob/714713378fb037c9670bf48118010f1899c10bd5/jsk_topic_tools/CMakeLists.txt#L30-L32)

[k-okada]

how about

#if  defined(JSK_TOPIC_TOOLS_VERSION) and JKS_NODELET_VERSION_MINIMUM(2,2,13))
    #define jsk_topic_tools::NODLET jsk_topic_tools::ConnectionBasedNodelet
#else
    #define jsk_topic_tools::NODLET jsk_topic_tools::DiagnosticNodelet
#endif

[iory]

@k-okada
Thanks for your feedback.

I have changed to use ConnectionBasedNodelet if the version of jsk_topic_tools is lower than 2.2.13 and Diagnostic Nodelet otherwise.

#include <jsk_recognition_utils/jsk_topic_tools_version.h>
#if JSK_TOPIC_TOOLS_VERSION_MINIMUM(2,2,13)
  #include <jsk_topic_tools/diagnostic_nodelet.h>
  namespace jsk_topic_tools {
    #define NODELET DiagnosticNodelet
  }
#else
  #include <jsk_topic_tools/connection_based_nodelet.h>
  namespace jsk_topic_tools {
    #define NODELET ConnectionBasedNodelet
  }
#endif

The released 2.2.12 does not include some bug fixes.
jsk-ros-pkg/jsk_common#1752 jsk-ros-pkg/jsk_common#1735

Because DiagnosticNodelet has those bugs, it is enabled only after jsk_topic_tools 2.2.13.