proper frame numbers

src/cam2image.cpp

@@ -77,7 +77,7 @@ void adapt(
   size_t* adapted_width,
   size_t* adapted_height)
 {
-  *rate_adaptation = 0.2;
+  *rate_adaptation = 0.1;
   if(factor >= 1) {
       *adapted_width = 640;
       *adapted_height = 480;
@@ -205,6 +205,7 @@ int main(int argc, char * argv[])
   msg->is_bigendian = false;
 
   size_t i = 1;
+  size_t frame_id = 1;
   double rate_adaptation;
   size_t adapted_width;
   size_t adapted_height;
@@ -236,7 +237,7 @@ int main(int argc, char * argv[])
     if (!frame.empty()) {
       // Convert to a ROS image
       if (!is_flipped) {
-        convert_frame_to_message(frame, i, msg);
+        convert_frame_to_message(frame, frame_id, msg);
       } else {
         // Flip the frame if needed
         cv::flip(frame, flipped_frame, 1);
@@ -253,8 +254,9 @@ int main(int argc, char * argv[])
       }
       // Publish the image message and increment the frame_id.
       if(i%(int)(1/rate_adaptation) == 0) {
-          RCLCPP_DEBUG(node_logger, "Publishing image #%zd", i)
+          RCLCPP_INFO(node_logger, "Publishing image #%zd", frame_id)
           pub->publish(msg);
+          ++frame_id;
       }else{
           RCLCPP_DEBUG(node_logger, "Skipping image #%zd", i)
       }