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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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src/nodelets/stereo_sync.cpp
+2 -2
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@@ -75,8 +75,8 @@ StereoSync::StereoSync(const rclcpp::NodeOptions & options) :
image_transport::TransportHints hints(this);
imageLeftSub_.subscribe(this, "left/image_rect", hints.getTransport(), rmw_qos_profile_sensor_data);
imageRightSub_.subscribe(this, "right/image_rect", hints.getTransport(), rmw_qos_profile_sensor_data);
cameraInfoLeftSub_.subscribe(this, "camera_info", rmw_qos_profile_sensor_data);
cameraInfoRightSub_.subscribe(this, "camera_info", rmw_qos_profile_sensor_data);
cameraInfoLeftSub_.subscribe(this, "left/camera_info", rmw_qos_profile_sensor_data);
cameraInfoRightSub_.subscribe(this, "right/camera_info", rmw_qos_profile_sensor_data);
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s,\n %s,\n %s,\n %s",
get_name(),