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rtabmap: added subscribe_inter_odom_info option (sync odometry and info msgs for intermediate nodes)

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matlabbe
2019-11-23 22:00:23 -05:00
parent 3b6792920e
commit 272568a0d9
2 changed files with 83 additions and 14 deletions
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include/rtabmap_ros/CoreWrapper.h
+8 -1
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@@ -57,6 +57,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap_ros/Goal.h"
#include "rtabmap_ros/GetPlan.h"
#include "rtabmap_ros/CommonDataSubscriber.h"
#include "rtabmap_ros/OdomInfo.h"
#include "MapsManager.h"
@@ -144,6 +145,7 @@ private:
#endif
void imuAsyncCallback(const sensor_msgs::ImuConstPtr & tagDetections);
void interOdomCallback(const nav_msgs::OdometryConstPtr & msg);
void interOdomInfoCallback(const nav_msgs::OdometryConstPtr & msg1, const rtabmap_ros::OdomInfoConstPtr & msg2);
void initialPoseCallback(const geometry_msgs::PoseWithCovarianceStampedConstPtr & msg);
@@ -320,8 +322,13 @@ private:
std::map<int, geometry_msgs::PoseWithCovarianceStamped> tags_;
ros::Subscriber imuSub_;
std::map<double, rtabmap::Transform> imus_;
ros::Subscriber interOdomSub_;
std::list<nav_msgs::Odometry> interOdoms_;
std::list<std::pair<nav_msgs::Odometry, rtabmap_ros::OdomInfo>> interOdoms_;
message_filters::Subscriber<nav_msgs::Odometry> interOdomSyncSub_;
message_filters::Subscriber<rtabmap_ros::OdomInfo> interOdomInfoSyncSub_;
typedef message_filters::sync_policies::ExactTime<nav_msgs::Odometry, rtabmap_ros::OdomInfo> MyExactInterOdomSyncPolicy;
message_filters::Synchronizer<MyExactInterOdomSyncPolicy> * interOdomSync_;
bool stereoToDepth_;
bool odomSensorSync_;