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Making odometry's services private (under odometry node namespace) like rtabmap node instead of being global. For example, "reset_odom" will be under "rgbd_odometry/reset_odom". Added new parameter for rtabmap_viz to call correctly odometry services, with "odometry_node_name" set to "rgbd_odometry" by default.

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matlabbe
2025-10-19 17:02:25 -07:00
parent 3b5a4ed675
commit 2477bc21c3
20 changed files with 115 additions and 71 deletions
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rtabmap_odom/src/OdometryROS.cpp
+9 -8
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@@ -370,15 +370,16 @@ void OdometryROS::init(bool stereoParams, bool visParams, bool icpParams)
odometry_->reset(initialPose_);
}
resetSrv_ = this->create_service<std_srvs::srv::Empty>("reset_odom", std::bind(&OdometryROS::resetOdom, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
resetToPoseSrv_ = this->create_service<rtabmap_msgs::srv::ResetPose>("reset_odom_to_pose", std::bind(&OdometryROS::resetToPose, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
pauseSrv_ = this->create_service<std_srvs::srv::Empty>("pause_odom", std::bind(&OdometryROS::pause, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
resumeSrv_ = this->create_service<std_srvs::srv::Empty>("resume_odom", std::bind(&OdometryROS::resume, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
const std::string servicePrefix = get_name() + std::string("/");
resetSrv_ = this->create_service<std_srvs::srv::Empty>(servicePrefix + "reset_odom", std::bind(&OdometryROS::resetOdom, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
resetToPoseSrv_ = this->create_service<rtabmap_msgs::srv::ResetPose>(servicePrefix + "reset_odom_to_pose", std::bind(&OdometryROS::resetToPose, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
pauseSrv_ = this->create_service<std_srvs::srv::Empty>(servicePrefix + "pause_odom", std::bind(&OdometryROS::pause, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
resumeSrv_ = this->create_service<std_srvs::srv::Empty>(servicePrefix + "resume_odom", std::bind(&OdometryROS::resume, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
setLogDebugSrv_ = this->create_service<std_srvs::srv::Empty>("log_debug", std::bind(&OdometryROS::setLogDebug, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
setLogInfoSrv_ = this->create_service<std_srvs::srv::Empty>("log_info", std::bind(&OdometryROS::setLogInfo, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
setLogWarnSrv_ = this->create_service<std_srvs::srv::Empty>("log_warning", std::bind(&OdometryROS::setLogWarn, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
setLogErrorSrv_ = this->create_service<std_srvs::srv::Empty>("log_error", std::bind(&OdometryROS::setLogError, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
setLogDebugSrv_ = this->create_service<std_srvs::srv::Empty>(servicePrefix + "log_debug", std::bind(&OdometryROS::setLogDebug, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
setLogInfoSrv_ = this->create_service<std_srvs::srv::Empty>(servicePrefix + "log_info", std::bind(&OdometryROS::setLogInfo, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
setLogWarnSrv_ = this->create_service<std_srvs::srv::Empty>(servicePrefix + "log_warning", std::bind(&OdometryROS::setLogWarn, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
setLogErrorSrv_ = this->create_service<std_srvs::srv::Empty>(servicePrefix + "log_error", std::bind(&OdometryROS::setLogError, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
odomStrategy_ = 0;
Parameters::parse(this->parameters(), Parameters::kOdomStrategy(), odomStrategy_);