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Added approx_sync_max_interval parameter to odometry and sync nodes.

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matlabbe
2022-03-04 18:01:20 -05:00
parent 8570fe3179
commit 07bf207ec3
13 changed files with 244 additions and 27 deletions
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launch/rtabmap.launch
+8 -1
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@@ -57,7 +57,8 @@
<!-- if timestamps of the input topics are synchronized using approximate or exact time policy-->
<arg if="$(arg stereo)" name="approx_sync" default="false"/>
<arg unless="$(arg stereo)" name="approx_sync" default="$(arg depth)"/>
<arg unless="$(arg stereo)" name="approx_sync" default="$(arg depth)"/>
<arg name="approx_sync_max_interval" default="0"/> <!-- (sec) 0 means infinite interval duration (used with approx_sync=true) -->
<!-- RGB-D related topics -->
<arg name="rgb_topic" default="/camera/rgb/image_rect_color" />
@@ -174,6 +175,7 @@
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="rgbd_image" to="$(arg rgbd_topic_relay)"/>
<param name="approx_sync" type="bool" value="$(arg approx_rgbd_sync)"/>
<param name="approx_sync_max_interval" type="double" value="$(arg approx_sync_max_interval)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="depth_scale" type="double" value="$(arg rgbd_depth_scale)"/>
<param name="decimation" type="double" value="$(arg rgbd_decimation)"/>
@@ -195,6 +197,7 @@
<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
<remap from="rgbd_image" to="$(arg rgbd_topic_relay)"/>
<param name="approx_sync" type="bool" value="$(arg approx_rgbd_sync)"/>
<param name="approx_sync_max_interval" type="double" value="$(arg approx_sync_max_interval)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
</node>
</group>
@@ -219,6 +222,7 @@
<param name="decimation" type="double" value="$(arg gen_cloud_decimation)"/>
<param name="voxel_size" type="double" value="$(arg gen_cloud_voxel)"/>
<param name="approx_sync" type="bool" value="false"/>
<param name="approx_sync_max_interval" type="double" value="$(arg approx_sync_max_interval)"/>
</node>
<!-- Visual odometry -->
@@ -242,6 +246,7 @@
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="wait_imu_to_init" type="bool" value="$(arg wait_imu_to_init)"/>
<param name="approx_sync" type="bool" value="$(arg approx_sync)"/>
<param name="approx_sync_max_interval" type="double" value="$(arg approx_sync_max_interval)"/>
<param name="config_path" type="string" value="$(arg cfg)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="subscribe_rgbd" type="bool" value="$(arg subscribe_rgbd)"/>
@@ -271,6 +276,7 @@
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="wait_imu_to_init" type="bool" value="$(arg wait_imu_to_init)"/>
<param name="approx_sync" type="bool" value="$(arg approx_sync)"/>
<param name="approx_sync_max_interval" type="double" value="$(arg approx_sync_max_interval)"/>
<param name="config_path" type="string" value="$(arg cfg)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="subscribe_rgbd" type="bool" value="$(arg subscribe_rgbd)"/>
@@ -450,6 +456,7 @@
<param name="decimation" type="double" value="4"/>
<param name="voxel_size" type="double" value="0.0"/>
<param name="approx_sync" type="bool" value="$(arg approx_sync)"/>
<param name="approx_sync_max_interval" type="double" value="$(arg approx_sync_max_interval)"/>
</node>
</launch>