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initial port of rtabmap.launch.py

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matlabbe
2021-07-11 19:49:07 -04:00
parent 96c0733b0b
commit 11d8ebc339
9 changed files with 454 additions and 37 deletions
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include/rtabmap_ros/OdometryROS.h
+2
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@@ -85,6 +85,7 @@ protected:
virtual void flushCallbacks() {}
tf2_ros::Buffer & tfBuffer() {return *tfBuffer_;}
const double & waitForTransform() const {return waitForTransform_;}
const int & queueSize() const {return queueSize_;}
private:
void warningLoop(const std::string & subscribedTopicsMsg, bool approxSync);
@@ -113,6 +114,7 @@ private:
bool publishTf_;
double waitForTransform_;
bool publishNullWhenLost_;
int queueSize_;
rtabmap::ParametersMap parameters_;
rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr odomPub_;
include/rtabmap_ros/rgbd_odometry.hpp
-1
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@@ -114,7 +114,6 @@ private:
message_filters::Synchronizer<MyApproxSync4Policy> * approxSync4_;
typedef message_filters::sync_policies::ExactTime<rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage, rtabmap_ros::msg::RGBDImage> MyExactSync4Policy;
message_filters::Synchronizer<MyExactSync4Policy> * exactSync4_;
int queueSize_;
};
}
include/rtabmap_ros/stereo_odometry.hpp
-1
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@@ -76,7 +76,6 @@ private:
typedef message_filters::sync_policies::ExactTime<sensor_msgs::msg::Image, sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, sensor_msgs::msg::CameraInfo> MyExactSyncPolicy;
message_filters::Synchronizer<MyExactSyncPolicy> * exactSync_;
rclcpp::Subscription<rtabmap_ros::msg::RGBDImage>::SharedPtr rgbdSub_;
int queueSize_;
};
}