Fix lazy publishing

[chameau5050]

Overview

Author: Olivier Demers

Issue

Issue link (if present):
Issue description:
Related PRs

Changes

ROS distro: Humble
List of changes:

• Fix the lazy publishing feature

Testing

Hardware used: OAK-D-PRO-W-POE
Depthai library version: 3

Visuals from testing

Add screenshots/gifs/videos from RVIZ or other visualizers demonstrating the effect of the changes when applicable.

[Copilot]

Pull request overview

Updates BridgePublisher’s “lazy publishing” behavior so that when lazy publishing is disabled, messages are still published even if there are no subscribers.

Changes:

• Publish the main ROS message even with zero subscribers when _lazyPublisher is disabled.
• Publish the camera info message even with zero subscribers when _lazyPublisher is disabled.

Comments suppressed due to low confidence (1)

depthai_bridge/include/depthai_bridge/BridgePublisher.hpp:247

• When _lazyPublisher is false, this condition is always true even if _isImageMessage is false (e.g., Image publisher without cameraName). In that case _camInfoManager / _cameraInfoPublisher are never initialized, so this will dereference a null pointer and crash. Gate camera-info publication on _isImageMessage (and/or check the pointers) in addition to the lazy/subscriber logic.

            if(!_lazyPublisher || infoSubCount > 0) {
                auto localCameraInfo = _camInfoManager->getCameraInfo();
                localCameraInfo.header.stamp = currMsg.header.stamp;
                localCameraInfo.header.frame_id = currMsg.header.frame_id;
                _cameraInfoPublisher->publish(localCameraInfo);

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