From 8d5af87d171f7a0668e5501354feae73276387e5 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Sat, 12 Jul 2025 15:18:39 -0700 Subject: [PATCH 1/2] Fixed compilation errors on rolling (backward compatible for Humble) --- .devcontainer/rolling/Dockerfile | 80 +++++++++++++++++++ .devcontainer/rolling/devcontainer.json | 27 +++++++ rtabmap_conversions/CMakeLists.txt | 8 +- .../rtabmap_conversions/MsgConversion.h | 6 ++ .../include/rtabmap_odom/rgbd_odometry.hpp | 6 +- .../include/rtabmap_odom/stereo_odometry.hpp | 6 +- rtabmap_odom/src/nodelets/rgbd_odometry.cpp | 14 ++-- rtabmap_odom/src/nodelets/stereo_odometry.cpp | 16 ++-- rtabmap_slam/src/CoreWrapper.cpp | 6 +- .../include/rtabmap_sync/rgb_sync.hpp | 6 +- .../include/rtabmap_sync/rgbd_sync.hpp | 6 +- .../include/rtabmap_sync/rgbdx_sync.hpp | 6 +- .../include/rtabmap_sync/stereo_sync.hpp | 6 +- .../src/impl/CommonDataSubscriberDepth.cpp | 66 +++++++-------- .../src/impl/CommonDataSubscriberOdom.cpp | 8 +- .../src/impl/CommonDataSubscriberRGB.cpp | 66 +++++++-------- .../src/impl/CommonDataSubscriberRGBD.cpp | 42 +++++----- .../src/impl/CommonDataSubscriberRGBD2.cpp | 42 +++++----- .../src/impl/CommonDataSubscriberRGBD3.cpp | 42 +++++----- .../src/impl/CommonDataSubscriberRGBD4.cpp | 42 +++++----- .../src/impl/CommonDataSubscriberRGBD5.cpp | 20 ++--- .../src/impl/CommonDataSubscriberRGBD6.cpp | 20 ++--- .../src/impl/CommonDataSubscriberRGBDX.cpp | 42 +++++----- .../src/impl/CommonDataSubscriberScan.cpp | 34 ++++---- .../impl/CommonDataSubscriberSensorData.cpp | 8 +- .../src/impl/CommonDataSubscriberStereo.cpp | 10 +-- rtabmap_sync/src/nodelets/rgb_sync.cpp | 2 +- rtabmap_sync/src/nodelets/rgbd_sync.cpp | 2 +- rtabmap_sync/src/nodelets/rgbdx_sync.cpp | 2 +- rtabmap_sync/src/nodelets/stereo_sync.cpp | 4 +- .../rtabmap_util/point_cloud_aggregator.hpp | 6 +- .../rtabmap_util/point_cloud_assembler.hpp | 4 +- .../include/rtabmap_util/point_cloud_xyz.hpp | 6 +- .../rtabmap_util/point_cloud_xyzrgb.hpp | 6 +- .../rtabmap_util/pointcloud_to_depthimage.hpp | 6 +- rtabmap_util/src/nodelets/imu_to_tf.cpp | 2 +- .../src/nodelets/point_cloud_aggregator.cpp | 10 +-- .../src/nodelets/point_cloud_assembler.cpp | 10 +-- rtabmap_util/src/nodelets/point_cloud_xyz.cpp | 6 +- .../src/nodelets/point_cloud_xyzrgb.cpp | 8 +- .../src/nodelets/pointcloud_to_depthimage.cpp | 4 +- rtabmap_viz/src/GuiWrapper.cpp | 8 +- 42 files changed, 419 insertions(+), 302 deletions(-) create mode 100644 .devcontainer/rolling/Dockerfile create mode 100644 .devcontainer/rolling/devcontainer.json diff --git a/.devcontainer/rolling/Dockerfile b/.devcontainer/rolling/Dockerfile new file mode 100644 index 00000000..e763e115 --- /dev/null +++ b/.devcontainer/rolling/Dockerfile @@ -0,0 +1,80 @@ + +FROM ubuntu:24.04 + +ENV DEBIAN_FRONTEND=noninteractive + +# Install ROS2 +RUN apt update && \ + apt install software-properties-common -y && \ + add-apt-repository universe && \ + apt update && \ + apt install curl -y && \ + curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \ + echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \ + apt-get clean && rm -rf /var/lib/apt/lists/ + +# Install build dependencies +RUN apt-get update && \ + apt upgrade -y && \ + apt-get install -y \ + git \ + wget \ + libtbb-dev \ + libproj-dev \ + libpcl-dev \ + liboctomap-dev \ + libfreenect-dev \ + ros-rolling-ros-base \ + ros-dev-tools \ + ros-rolling-cv-bridge \ + ros-rolling-image-geometry \ + ros-rolling-laser-geometry \ + ros-rolling-pcl-conversions \ + ros-rolling-rviz-common \ + ros-rolling-rviz-rendering \ + ros-rolling-rviz-default-plugins \ + ros-rolling-pcl-ros \ + ros-rolling-imu-filter-madgwick \ + ros-rolling-image-transport \ + ros-rolling-octomap-msgs \ + ros-rolling-libg2o \ + ros-rolling-gtsam \ + ros-rolling-libpointmatcher \ + ros-rolling-qt-gui-cpp \ + ros-rolling-diagnostic-updater && \ + apt-get clean && rm -rf /var/lib/apt/lists/ + +WORKDIR /root/ + +RUN rm /bin/sh && ln -s /bin/bash /bin/sh + +RUN echo -e '#!/bin/bash\nset -e\n\n# setup ros2 environment\nsource "/opt/ros/rolling/setup.bash" --\nexec "$@"' > /ros_entrypoint.sh +RUN chmod +x /ros_entrypoint.sh +ENTRYPOINT [ "/ros_entrypoint.sh" ] + +# ros2 seems not sourcing by default its multi-arch folders +ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/rolling/lib/x86_64-linux-gnu + +# For devcontainer +# remove ubuntu user +RUN touch /var/mail/ubuntu && chown ubuntu /var/mail/ubuntu && userdel -r ubuntu + +RUN apt-get update && apt-get install -y sudo && \ + apt-get clean && rm -rf /var/lib/apt/lists/ + +ARG USERNAME=vscode +ARG USER_UID=1000 +ARG USER_GID=1000 + +RUN set -ex && \ + groupadd --gid ${USER_GID} ${USERNAME} && \ + useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} && \ + usermod -a -G sudo ${USERNAME} && \ + echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USERNAME} && \ + chmod 0440 /etc/sudoers.d/${USERNAME} + +RUN mkdir -p /home/${USERNAME}/ros2_ws/src && \ + chown -R ${USERNAME}:${USERNAME} /home/${USERNAME}/ros2_ws + +RUN echo "source /opt/ros/rolling/setup.bash" >> /home/${USERNAME}/.bashrc +RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc diff --git a/.devcontainer/rolling/devcontainer.json b/.devcontainer/rolling/devcontainer.json new file mode 100644 index 00000000..dcd493a3 --- /dev/null +++ b/.devcontainer/rolling/devcontainer.json @@ -0,0 +1,27 @@ +{ + "build": { + "dockerfile": "Dockerfile", + "pull": true + }, + "remoteUser": "vscode", + "customizations": { + "vscode": { + "extensions": [ + "ms-vscode.cpptools-themes", + "ms-vscode.cmake-tools", + "ms-vscode.cpptools-extension-pack", + "ms-azuretools.vscode-docker", + "ms-python.python"] + } + }, + "settings": { + "python.autoComplete.extraPaths": [ + "/opt/ros/rolling/lib/python3/dist-packages" + ], + "terminal.integrated.defaultProfile.linux": "bash" + }, + "workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/ros2_ws/src/rtabmap_ros,type=bind", + "workspaceFolder": "/home/vscode/ros2_ws", + "postCreateCommand": "git clone https://github.com/introlab/rtabmap.git /home/vscode/ros2_ws/src/rtabmap && echo 'Initialize: export MAKEFLAGS=\"-j6\" && colcon build --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release --parallel-workers 2'" + //"runArgs": ["--privileged", "--runtime=nvidia", "--network=host"] +} diff --git a/rtabmap_conversions/CMakeLists.txt b/rtabmap_conversions/CMakeLists.txt index 3df9516a..37a5b0a9 100644 --- a/rtabmap_conversions/CMakeLists.txt +++ b/rtabmap_conversions/CMakeLists.txt @@ -60,6 +60,10 @@ IF("$ENV{ROS_DISTRO}" STRLESS "iron") add_definitions(-DPRE_ROS_IRON) ENDIF() +IF("$ENV{ROS_DISTRO}" STRLESS "kilted") + add_definitions(-DPRE_ROS_KILTED) +ENDIF() + ########### ## Build ## ########### @@ -73,7 +77,9 @@ target_include_directories(rtabmap_conversions ament_target_dependencies(rtabmap_conversions ${Libraries}) IF("$ENV{ROS_DISTRO}" STRLESS "iron") - target_compile_definitions(rtabmap_conversions PUBLIC -DPRE_ROS_IRON) + target_compile_definitions(rtabmap_conversions PUBLIC -DPRE_ROS_IRON -DPRE_ROS_KILTED) +ELSEIF("$ENV{ROS_DISTRO}" STRLESS "kilted") + target_compile_definitions(rtabmap_conversions PUBLIC -DPRE_ROS_KILTED) ENDIF() ############# diff --git a/rtabmap_conversions/include/rtabmap_conversions/MsgConversion.h b/rtabmap_conversions/include/rtabmap_conversions/MsgConversion.h index 3d9f5daa..05ea8a6c 100644 --- a/rtabmap_conversions/include/rtabmap_conversions/MsgConversion.h +++ b/rtabmap_conversions/include/rtabmap_conversions/MsgConversion.h @@ -65,6 +65,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include #include +#ifdef PRE_ROS_KILTED +#define RCLCPP_QOS(queueSize, qos) rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile() +#else +#define RCLCPP_QOS(queueSize, qos) rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos) +#endif + namespace rtabmap_conversions { void transformToTF(const rtabmap::Transform & transform, tf2::Transform & tfTransform); diff --git a/rtabmap_odom/include/rtabmap_odom/rgbd_odometry.hpp b/rtabmap_odom/include/rtabmap_odom/rgbd_odometry.hpp index b8aee9ee..9343fa49 100644 --- a/rtabmap_odom/include/rtabmap_odom/rgbd_odometry.hpp +++ b/rtabmap_odom/include/rtabmap_odom/rgbd_odometry.hpp @@ -30,9 +30,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include #include -#include -#include -#include +#include +#include +#include #include #include diff --git a/rtabmap_odom/include/rtabmap_odom/stereo_odometry.hpp b/rtabmap_odom/include/rtabmap_odom/stereo_odometry.hpp index 4167e738..1429bc85 100644 --- a/rtabmap_odom/include/rtabmap_odom/stereo_odometry.hpp +++ b/rtabmap_odom/include/rtabmap_odom/stereo_odometry.hpp @@ -30,9 +30,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include #include -#include -#include -#include +#include +#include +#include #include #include diff --git a/rtabmap_odom/src/nodelets/rgbd_odometry.cpp b/rtabmap_odom/src/nodelets/rgbd_odometry.cpp index 1da53fc4..9976065f 100644 --- a/rtabmap_odom/src/nodelets/rgbd_odometry.cpp +++ b/rtabmap_odom/src/nodelets/rgbd_odometry.cpp @@ -138,23 +138,23 @@ void RGBDOdometry::onOdomInit() { if(rgbdCameras >= 2) { - rgbd_image1_sub_.subscribe(this, "rgbd_image0", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options); - rgbd_image2_sub_.subscribe(this, "rgbd_image1", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options); + rgbd_image1_sub_.subscribe(this, "rgbd_image0", RCLCPP_QOS(topicQueueSize_, qos()), options); + rgbd_image2_sub_.subscribe(this, "rgbd_image1", RCLCPP_QOS(topicQueueSize_, qos()), options); if(rgbdCameras >= 3) { - rgbd_image3_sub_.subscribe(this, "rgbd_image2", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options); + rgbd_image3_sub_.subscribe(this, "rgbd_image2", RCLCPP_QOS(topicQueueSize_, qos()), options); } if(rgbdCameras >= 4) { - rgbd_image4_sub_.subscribe(this, "rgbd_image3", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options); + rgbd_image4_sub_.subscribe(this, "rgbd_image3", RCLCPP_QOS(topicQueueSize_, qos()), options); } if(rgbdCameras >= 5) { - rgbd_image5_sub_.subscribe(this, "rgbd_image4", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options); + rgbd_image5_sub_.subscribe(this, "rgbd_image4", RCLCPP_QOS(topicQueueSize_, qos()), options); } if(rgbdCameras >= 6) { - rgbd_image6_sub_.subscribe(this, "rgbd_image5", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options); + rgbd_image6_sub_.subscribe(this, "rgbd_image5", RCLCPP_QOS(topicQueueSize_, qos()), options); } if(rgbdCameras == 2) @@ -366,7 +366,7 @@ void RGBDOdometry::onOdomInit() image_mono_sub_.subscribe(this, rgb_topic, rgb_hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options); image_depth_sub_.subscribe(this, depth_topic, depth_hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options); - info_sub_.subscribe(this, "rgb/camera_info", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile()); + info_sub_.subscribe(this, "rgb/camera_info", RCLCPP_QOS(topicQueueSize_, qosCamInfo), options); if(approxSync) { diff --git a/rtabmap_odom/src/nodelets/stereo_odometry.cpp b/rtabmap_odom/src/nodelets/stereo_odometry.cpp index c649f033..00f1f9e2 100644 --- a/rtabmap_odom/src/nodelets/stereo_odometry.cpp +++ b/rtabmap_odom/src/nodelets/stereo_odometry.cpp @@ -129,23 +129,23 @@ void StereoOdometry::onOdomInit() { if(rgbdCameras >= 2) { - rgbd_image1_sub_.subscribe(this, "rgbd_image0", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options); - rgbd_image2_sub_.subscribe(this, "rgbd_image1", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options); + rgbd_image1_sub_.subscribe(this, "rgbd_image0", RCLCPP_QOS(topicQueueSize_, qos()), options); + rgbd_image2_sub_.subscribe(this, "rgbd_image1", RCLCPP_QOS(topicQueueSize_, qos()), options); if(rgbdCameras >= 3) { - rgbd_image3_sub_.subscribe(this, "rgbd_image2", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options); + rgbd_image3_sub_.subscribe(this, "rgbd_image2", RCLCPP_QOS(topicQueueSize_, qos()), options); } if(rgbdCameras >= 4) { - rgbd_image4_sub_.subscribe(this, "rgbd_image3", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options); + rgbd_image4_sub_.subscribe(this, "rgbd_image3", RCLCPP_QOS(topicQueueSize_, qos()), options); } if(rgbdCameras >= 5) { - rgbd_image5_sub_.subscribe(this, "rgbd_image4", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options); + rgbd_image5_sub_.subscribe(this, "rgbd_image4", RCLCPP_QOS(topicQueueSize_, qos()), options); } if(rgbdCameras >= 6) { - rgbd_image6_sub_.subscribe(this, "rgbd_image5", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options); + rgbd_image6_sub_.subscribe(this, "rgbd_image5", RCLCPP_QOS(topicQueueSize_, qos()), options); } if(rgbdCameras == 2) @@ -350,8 +350,8 @@ void StereoOdometry::onOdomInit() image_transport::TransportHints hints(this); imageRectLeft_.subscribe(this, "left/image_rect", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options); imageRectRight_.subscribe(this, "right/image_rect", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qos()).get_rmw_qos_profile(), options); - cameraInfoLeft_.subscribe(this, "left/camera_info", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile(), options); - cameraInfoRight_.subscribe(this, "right/camera_info", rclcpp::QoS(topicQueueSize_).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile(), options); + cameraInfoLeft_.subscribe(this, "left/camera_info", RCLCPP_QOS(topicQueueSize_, qosCamInfo), options); + cameraInfoRight_.subscribe(this, "right/camera_info", RCLCPP_QOS(topicQueueSize_, qosCamInfo), options); if(approxSync) { diff --git a/rtabmap_slam/src/CoreWrapper.cpp b/rtabmap_slam/src/CoreWrapper.cpp index c214d91a..29b7e0e6 100644 --- a/rtabmap_slam/src/CoreWrapper.cpp +++ b/rtabmap_slam/src/CoreWrapper.cpp @@ -567,10 +567,8 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) : RCLCPP_INFO(this->get_logger(), "Subscribe to inter odom + info messages"); interOdomSync_ = new message_filters::Synchronizer(MyExactInterOdomSyncPolicy(100), interOdomSyncSub_, interOdomInfoSyncSub_); interOdomSync_->registerCallback(std::bind(&CoreWrapper::interOdomInfoCallback, this, std::placeholders::_1, std::placeholders::_2)); - rmw_qos_profile_t qos = rmw_qos_profile_default; - qos.depth = 100; - interOdomSyncSub_.subscribe(this, "inter_odom", qos); - interOdomInfoSyncSub_.subscribe(this, "inter_odom_info", qos); + interOdomSyncSub_.subscribe(this, "inter_odom", RCLCPP_QOS(100, rclcpp::ReliabilityPolicy::SystemDefault)); + interOdomInfoSyncSub_.subscribe(this, "inter_odom_info", RCLCPP_QOS(100, rclcpp::ReliabilityPolicy::SystemDefault)); } else { diff --git a/rtabmap_sync/include/rtabmap_sync/rgb_sync.hpp b/rtabmap_sync/include/rtabmap_sync/rgb_sync.hpp index c8d60827..204d7370 100644 --- a/rtabmap_sync/include/rtabmap_sync/rgb_sync.hpp +++ b/rtabmap_sync/include/rtabmap_sync/rgb_sync.hpp @@ -34,9 +34,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include #include -#include -#include -#include +#include +#include +#include #include "rtabmap_msgs/msg/rgbd_image.hpp" #include "rtabmap_sync/SyncDiagnostic.h" diff --git a/rtabmap_sync/include/rtabmap_sync/rgbd_sync.hpp b/rtabmap_sync/include/rtabmap_sync/rgbd_sync.hpp index 429cac57..351c55eb 100644 --- a/rtabmap_sync/include/rtabmap_sync/rgbd_sync.hpp +++ b/rtabmap_sync/include/rtabmap_sync/rgbd_sync.hpp @@ -34,9 +34,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include #include -#include -#include -#include +#include +#include +#include #include "rtabmap_msgs/msg/rgbd_image.hpp" #include "rtabmap_sync/SyncDiagnostic.h" diff --git a/rtabmap_sync/include/rtabmap_sync/rgbdx_sync.hpp b/rtabmap_sync/include/rtabmap_sync/rgbdx_sync.hpp index 05b8a578..e49553dd 100644 --- a/rtabmap_sync/include/rtabmap_sync/rgbdx_sync.hpp +++ b/rtabmap_sync/include/rtabmap_sync/rgbdx_sync.hpp @@ -34,9 +34,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include #include -#include -#include -#include +#include +#include +#include #include "rtabmap_msgs/msg/rgbd_image.hpp" #include "rtabmap_msgs/msg/rgbd_images.hpp" diff --git a/rtabmap_sync/include/rtabmap_sync/stereo_sync.hpp b/rtabmap_sync/include/rtabmap_sync/stereo_sync.hpp index f4af3416..3cf545e5 100644 --- a/rtabmap_sync/include/rtabmap_sync/stereo_sync.hpp +++ b/rtabmap_sync/include/rtabmap_sync/stereo_sync.hpp @@ -34,9 +34,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include #include -#include -#include -#include +#include +#include +#include #include "rtabmap_msgs/msg/rgbd_image.hpp" #include "rtabmap_sync/SyncDiagnostic.h" diff --git a/rtabmap_sync/src/impl/CommonDataSubscriberDepth.cpp b/rtabmap_sync/src/impl/CommonDataSubscriberDepth.cpp index 2de994a5..4370e9cc 100644 --- a/rtabmap_sync/src/impl/CommonDataSubscriberDepth.cpp +++ b/rtabmap_sync/src/impl/CommonDataSubscriberDepth.cpp @@ -506,22 +506,22 @@ void CommonDataSubscriber::setupDepthCallbacks( image_transport::TransportHints hints(&node); imageSub_.subscribe(&node, "rgb/image", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options); imageDepthSub_.subscribe(&node, "depth/image", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options); - cameraInfoSub_.subscribe(&node, "rgb/camera_info", rclcpp::QoS(topicQueueSize_).reliability(qosCameraInfo_).get_rmw_qos_profile(), options); + cameraInfoSub_.subscribe(&node, "rgb/camera_info", RCLCPP_QOS(topicQueueSize_, qosCameraInfo_), options); #ifdef RTABMAP_SYNC_USER_DATA if(subscribeOdom && subscribeUserData) { - odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); - userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options); + odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); + userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options); if(subscribeScanDesc) { subscribedToScanDescriptor_ = true; - scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL7(CommonDataSubscriber, depthOdomDataScanDescInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_); } else @@ -532,11 +532,11 @@ void CommonDataSubscriber::setupDepthCallbacks( else if(subscribeScan2d) { subscribedToScan2d_ = true; - scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL7(CommonDataSubscriber, depthOdomDataScan2dInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_); } else @@ -547,11 +547,11 @@ void CommonDataSubscriber::setupDepthCallbacks( else if(subscribeScan3d) { subscribedToScan3d_ = true; - scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL7(CommonDataSubscriber, depthOdomDataScan3dInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_); } else @@ -562,7 +562,7 @@ void CommonDataSubscriber::setupDepthCallbacks( else if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL6(CommonDataSubscriber, depthOdomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_); } else @@ -574,16 +574,16 @@ void CommonDataSubscriber::setupDepthCallbacks( #endif if(subscribeOdom) { - odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); if(subscribeScanDesc) { subscribedToScanDescriptor_ = true; - scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL6(CommonDataSubscriber, depthOdomScanDescInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_); } else @@ -594,11 +594,11 @@ void CommonDataSubscriber::setupDepthCallbacks( else if(subscribeScan2d) { subscribedToScan2d_ = true; - scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL6(CommonDataSubscriber, depthOdomScan2dInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_); } else @@ -609,11 +609,11 @@ void CommonDataSubscriber::setupDepthCallbacks( else if(subscribeScan3d) { subscribedToScan3d_ = true; - scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL6(CommonDataSubscriber, depthOdomScan3dInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_); } else @@ -624,7 +624,7 @@ void CommonDataSubscriber::setupDepthCallbacks( else if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL5(CommonDataSubscriber, depthOdomInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_); } else @@ -635,17 +635,17 @@ void CommonDataSubscriber::setupDepthCallbacks( #ifdef RTABMAP_SYNC_USER_DATA else if(subscribeUserData) { - userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options); + userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options); if(subscribeScanDesc) { subscribedToScanDescriptor_ = true; - scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL6(CommonDataSubscriber, depthDataScanDescInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_); } else @@ -656,12 +656,12 @@ void CommonDataSubscriber::setupDepthCallbacks( else if(subscribeScan2d) { subscribedToScan2d_ = true; - scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL6(CommonDataSubscriber, depthDataScan2dInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_); } else @@ -672,11 +672,11 @@ void CommonDataSubscriber::setupDepthCallbacks( else if(subscribeScan3d) { subscribedToScan3d_ = true; - scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL6(CommonDataSubscriber, depthDataScan3dInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_); } else @@ -687,7 +687,7 @@ void CommonDataSubscriber::setupDepthCallbacks( else if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL5(CommonDataSubscriber, depthDataInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_); } else @@ -701,11 +701,11 @@ void CommonDataSubscriber::setupDepthCallbacks( if(subscribeScanDesc) { subscribedToScanDescriptor_ = true; - scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_,qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL5(CommonDataSubscriber, depthScanDescInfo, approxSync_, syncQueueSize_, imageSub_, imageDepthSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_); } else @@ -716,11 +716,11 @@ void CommonDataSubscriber::setupDepthCallbacks( else if(subscribeScan2d) { subscribedToScan2d_ = true; - scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL5(CommonDataSubscriber, depthScan2dInfo, approxSync_, syncQueueSize_, imageSub_, imageDepthSub_, cameraInfoSub_, scanSub_, odomInfoSub_); } else @@ -731,11 +731,11 @@ void CommonDataSubscriber::setupDepthCallbacks( else if(subscribeScan3d) { subscribedToScan3d_ = true; - scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL5(CommonDataSubscriber, depthScan3dInfo, approxSync_, syncQueueSize_, imageSub_, imageDepthSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_); } else @@ -746,7 +746,7 @@ void CommonDataSubscriber::setupDepthCallbacks( else if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL4(CommonDataSubscriber, depthInfo, approxSync_, syncQueueSize_, imageSub_, imageDepthSub_, cameraInfoSub_, odomInfoSub_); } else diff --git a/rtabmap_sync/src/impl/CommonDataSubscriberOdom.cpp b/rtabmap_sync/src/impl/CommonDataSubscriberOdom.cpp index 3389ae70..9ce556bf 100644 --- a/rtabmap_sync/src/impl/CommonDataSubscriberOdom.cpp +++ b/rtabmap_sync/src/impl/CommonDataSubscriberOdom.cpp @@ -77,16 +77,16 @@ void CommonDataSubscriber::setupOdomCallbacks( if(subscribeUserData || subscribeOdomInfo) { - odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); #ifdef RTABMAP_SYNC_USER_DATA if(subscribeUserData) { - userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options); + userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL3(CommonDataSubscriber, odomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, odomInfoSub_); } else @@ -99,7 +99,7 @@ void CommonDataSubscriber::setupOdomCallbacks( if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL2(CommonDataSubscriber, odomInfo, approxSync_, syncQueueSize_, odomSub_, odomInfoSub_); } } diff --git a/rtabmap_sync/src/impl/CommonDataSubscriberRGB.cpp b/rtabmap_sync/src/impl/CommonDataSubscriberRGB.cpp index 2c880ade..9665e223 100644 --- a/rtabmap_sync/src/impl/CommonDataSubscriberRGB.cpp +++ b/rtabmap_sync/src/impl/CommonDataSubscriberRGB.cpp @@ -505,22 +505,22 @@ void CommonDataSubscriber::setupRGBCallbacks( image_transport::TransportHints hints(&node); imageSub_.subscribe(&node, "rgb/image", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options); - cameraInfoSub_.subscribe(&node, "rgb/camera_info", rclcpp::QoS(topicQueueSize_).reliability(qosCameraInfo_).get_rmw_qos_profile(), options); + cameraInfoSub_.subscribe(&node, "rgb/camera_info", RCLCPP_QOS(topicQueueSize_, qosCameraInfo_), options); #ifdef RTABMAP_SYNC_USER_DATA if(subscribeOdom && subscribeUserData) { - odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); - userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options); + odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); + userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options); if(subscribeScanDesc) { subscribedToScanDescriptor_ = true; - scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL6(CommonDataSubscriber, rgbOdomDataScanDescInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_); } else @@ -531,11 +531,11 @@ void CommonDataSubscriber::setupRGBCallbacks( else if(subscribeScan2d) { subscribedToScan2d_ = true; - scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL6(CommonDataSubscriber, rgbOdomDataScan2dInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_); } else @@ -546,11 +546,11 @@ void CommonDataSubscriber::setupRGBCallbacks( else if(subscribeScan3d) { subscribedToScan3d_ = true; - scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL6(CommonDataSubscriber, rgbOdomDataScan3dInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_); } else @@ -561,7 +561,7 @@ void CommonDataSubscriber::setupRGBCallbacks( else if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL5(CommonDataSubscriber, rgbOdomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, imageSub_, cameraInfoSub_, odomInfoSub_); } else @@ -573,16 +573,16 @@ void CommonDataSubscriber::setupRGBCallbacks( #endif if(subscribeOdom) { - odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); if(subscribeScanDesc) { subscribedToScanDescriptor_ = true; - scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL5(CommonDataSubscriber, rgbOdomScanDescInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_); } else @@ -593,11 +593,11 @@ void CommonDataSubscriber::setupRGBCallbacks( else if(subscribeScan2d) { subscribedToScan2d_ = true; - scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL5(CommonDataSubscriber, rgbOdomScan2dInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_); } else @@ -608,11 +608,11 @@ void CommonDataSubscriber::setupRGBCallbacks( else if(subscribeScan3d) { subscribedToScan3d_ = true; - scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL5(CommonDataSubscriber, rgbOdomScan3dInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_); } else @@ -623,7 +623,7 @@ void CommonDataSubscriber::setupRGBCallbacks( else if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL4(CommonDataSubscriber, rgbOdomInfo, approxSync_, syncQueueSize_, odomSub_, imageSub_, cameraInfoSub_, odomInfoSub_); } else @@ -634,17 +634,17 @@ void CommonDataSubscriber::setupRGBCallbacks( #ifdef RTABMAP_SYNC_USER_DATA else if(subscribeUserData) { - userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options); + userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options); if(subscribeScanDesc) { subscribedToScanDescriptor_ = true; - scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL5(CommonDataSubscriber, rgbDataScanDescInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_); } else @@ -655,12 +655,12 @@ void CommonDataSubscriber::setupRGBCallbacks( else if(subscribeScan2d) { subscribedToScan2d_ = true; - scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL5(CommonDataSubscriber, rgbDataScan2dInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_); } else @@ -671,11 +671,11 @@ void CommonDataSubscriber::setupRGBCallbacks( else if(subscribeScan3d) { subscribedToScan3d_ = true; - scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL5(CommonDataSubscriber, rgbDataScan3dInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_); } else @@ -686,7 +686,7 @@ void CommonDataSubscriber::setupRGBCallbacks( else if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL4(CommonDataSubscriber, rgbDataInfo, approxSync_, syncQueueSize_, userDataSub_, imageSub_, cameraInfoSub_, odomInfoSub_); } else @@ -700,11 +700,11 @@ void CommonDataSubscriber::setupRGBCallbacks( if(subscribeScanDesc) { subscribedToScanDescriptor_ = true; - scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL4(CommonDataSubscriber, rgbScanDescInfo, approxSync_, syncQueueSize_, imageSub_, cameraInfoSub_, scanDescSub_, odomInfoSub_); } else @@ -715,11 +715,11 @@ void CommonDataSubscriber::setupRGBCallbacks( else if(subscribeScan2d) { subscribedToScan2d_ = true; - scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL4(CommonDataSubscriber, rgbScan2dInfo, approxSync_, syncQueueSize_, imageSub_, cameraInfoSub_, scanSub_, odomInfoSub_); } else @@ -730,11 +730,11 @@ void CommonDataSubscriber::setupRGBCallbacks( else if(subscribeScan3d) { subscribedToScan3d_ = true; - scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL4(CommonDataSubscriber, rgbScan3dInfo, approxSync_, syncQueueSize_, imageSub_, cameraInfoSub_, scan3dSub_, odomInfoSub_); } else @@ -745,7 +745,7 @@ void CommonDataSubscriber::setupRGBCallbacks( else if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL3(CommonDataSubscriber, rgbInfo, approxSync_, syncQueueSize_, imageSub_, cameraInfoSub_, odomInfoSub_); } else diff --git a/rtabmap_sync/src/impl/CommonDataSubscriberRGBD.cpp b/rtabmap_sync/src/impl/CommonDataSubscriberRGBD.cpp index 75a4acf6..9d9c11ca 100644 --- a/rtabmap_sync/src/impl/CommonDataSubscriberRGBD.cpp +++ b/rtabmap_sync/src/impl/CommonDataSubscriberRGBD.cpp @@ -576,17 +576,17 @@ void CommonDataSubscriber::setupRGBDCallbacks( { rgbdSubs_.resize(1); rgbdSubs_[0] = new message_filters::Subscriber; - rgbdSubs_[0]->subscribe(&node, "rgbd_image", rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options); + rgbdSubs_[0]->subscribe(&node, "rgbd_image", RCLCPP_QOS(topicQueueSize_, qosImage_), options); #ifdef RTABMAP_SYNC_USER_DATA if(subscribeOdom && subscribeUserData) { - odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); - userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options); + odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); + userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options); if(subscribeScanDesc) { subscribedToScanDescriptor_ = true; - scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -597,7 +597,7 @@ void CommonDataSubscriber::setupRGBDCallbacks( else if(subscribeScan2d) { subscribedToScan2d_ = true; - scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -608,7 +608,7 @@ void CommonDataSubscriber::setupRGBDCallbacks( else if(subscribeScan3d) { subscribedToScan3d_ = true; - scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -619,7 +619,7 @@ void CommonDataSubscriber::setupRGBDCallbacks( else if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL4(CommonDataSubscriber, rgbdOdomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, (*rgbdSubs_[0]), odomInfoSub_); } else @@ -631,11 +631,11 @@ void CommonDataSubscriber::setupRGBDCallbacks( #endif if(subscribeOdom) { - odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); if(subscribeScanDesc) { subscribedToScanDescriptor_ = true; - scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -646,7 +646,7 @@ void CommonDataSubscriber::setupRGBDCallbacks( else if(subscribeScan2d) { subscribedToScan2d_ = true; - scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -657,7 +657,7 @@ void CommonDataSubscriber::setupRGBDCallbacks( else if(subscribeScan3d) { subscribedToScan3d_ = true; - scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -668,7 +668,7 @@ void CommonDataSubscriber::setupRGBDCallbacks( else if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL3(CommonDataSubscriber, rgbdOdomInfo, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), odomInfoSub_); } else @@ -679,11 +679,11 @@ void CommonDataSubscriber::setupRGBDCallbacks( #ifdef RTABMAP_SYNC_USER_DATA else if(subscribeUserData) { - userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options); + userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options); if(subscribeScanDesc) { subscribedToScanDescriptor_ = true; - scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -694,7 +694,7 @@ void CommonDataSubscriber::setupRGBDCallbacks( else if(subscribeScan2d) { subscribedToScan2d_ = true; - scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -705,7 +705,7 @@ void CommonDataSubscriber::setupRGBDCallbacks( else if(subscribeScan3d) { subscribedToScan3d_ = true; - scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -716,7 +716,7 @@ void CommonDataSubscriber::setupRGBDCallbacks( else if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL3(CommonDataSubscriber, rgbdDataInfo, approxSync_, syncQueueSize_, userDataSub_, (*rgbdSubs_[0]), odomInfoSub_); } else @@ -730,7 +730,7 @@ void CommonDataSubscriber::setupRGBDCallbacks( if(subscribeScanDesc) { subscribedToScanDescriptor_ = true; - scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -741,7 +741,7 @@ void CommonDataSubscriber::setupRGBDCallbacks( else if(subscribeScan2d) { subscribedToScan2d_ = true; - scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -752,7 +752,7 @@ void CommonDataSubscriber::setupRGBDCallbacks( else if(subscribeScan3d) { subscribedToScan3d_ = true; - scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -763,7 +763,7 @@ void CommonDataSubscriber::setupRGBDCallbacks( else if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL2(CommonDataSubscriber, rgbdInfo, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), odomInfoSub_); } else diff --git a/rtabmap_sync/src/impl/CommonDataSubscriberRGBD2.cpp b/rtabmap_sync/src/impl/CommonDataSubscriberRGBD2.cpp index 0427997f..dd5361db 100644 --- a/rtabmap_sync/src/impl/CommonDataSubscriberRGBD2.cpp +++ b/rtabmap_sync/src/impl/CommonDataSubscriberRGBD2.cpp @@ -362,17 +362,17 @@ void CommonDataSubscriber::setupRGBD2Callbacks( for(int i=0; i<2; ++i) { rgbdSubs_[i] = new message_filters::Subscriber; - rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options); + rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), RCLCPP_QOS(topicQueueSize_, qosImage_), options); } #ifdef RTABMAP_SYNC_USER_DATA if(subscribeOdom && subscribeUserData) { - odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); - userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options); + odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); + userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options); if(subscribeScanDesc) { subscribedToScanDescriptor_ = true; - scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -383,7 +383,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks( else if(subscribeScan2d) { subscribedToScan2d_ = true; - scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -394,7 +394,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks( else if(subscribeScan3d) { subscribedToScan3d_ = true; - scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -405,7 +405,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks( else if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL5(CommonDataSubscriber, rgbd2OdomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), odomInfoSub_); } else @@ -417,11 +417,11 @@ void CommonDataSubscriber::setupRGBD2Callbacks( #endif if(subscribeOdom) { - odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); if(subscribeScanDesc) { subscribedToScanDescriptor_ = true; - scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -432,7 +432,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks( else if(subscribeScan2d) { subscribedToScan2d_ = true; - scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -443,7 +443,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks( else if(subscribeScan3d) { subscribedToScan3d_ = true; - scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -454,7 +454,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks( else if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL4(CommonDataSubscriber, rgbd2OdomInfo, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), odomInfoSub_); } else @@ -465,11 +465,11 @@ void CommonDataSubscriber::setupRGBD2Callbacks( #ifdef RTABMAP_SYNC_USER_DATA else if(subscribeUserData) { - userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options); + userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options); if(subscribeScanDesc) { subscribedToScanDescriptor_ = true; - scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -480,7 +480,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks( else if(subscribeScan2d) { subscribedToScan2d_ = true; - scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -491,7 +491,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks( else if(subscribeScan3d) { subscribedToScan3d_ = true; - scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -502,7 +502,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks( else if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL4(CommonDataSubscriber, rgbd2DataInfo, approxSync_, syncQueueSize_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), odomInfoSub_); } else @@ -516,7 +516,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks( if(subscribeScanDesc) { subscribedToScanDescriptor_ = true; - scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -527,7 +527,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks( else if(subscribeScan2d) { subscribedToScan2d_ = true; - scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -538,7 +538,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks( else if(subscribeScan3d) { subscribedToScan3d_ = true; - scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -549,7 +549,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks( else if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL3(CommonDataSubscriber, rgbd2Info, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), odomInfoSub_); } else diff --git a/rtabmap_sync/src/impl/CommonDataSubscriberRGBD3.cpp b/rtabmap_sync/src/impl/CommonDataSubscriberRGBD3.cpp index af36a52c..82cc9e56 100644 --- a/rtabmap_sync/src/impl/CommonDataSubscriberRGBD3.cpp +++ b/rtabmap_sync/src/impl/CommonDataSubscriberRGBD3.cpp @@ -450,17 +450,17 @@ void CommonDataSubscriber::setupRGBD3Callbacks( for(int i=0; i<3; ++i) { rgbdSubs_[i] = new message_filters::Subscriber; - rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options); + rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), RCLCPP_QOS(topicQueueSize_, qosImage_), options); } #ifdef RTABMAP_SYNC_USER_DATA if(subscribeOdom && subscribeUserData) { - odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); - userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options); + odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); + userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options); if(subscribeScanDescriptor) { subscribedToScanDescriptor_ = true; - scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -471,7 +471,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks( else if(subscribeScan2d) { subscribedToScan2d_ = true; - scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -482,7 +482,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks( else if(subscribeScan3d) { subscribedToScan3d_ = true; - scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -493,7 +493,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks( else if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL6(CommonDataSubscriber, rgbd3OdomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_); } else @@ -505,11 +505,11 @@ void CommonDataSubscriber::setupRGBD3Callbacks( #endif if(subscribeOdom) { - odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); if(subscribeScanDescriptor) { subscribedToScanDescriptor_ = true; - scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -520,7 +520,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks( else if(subscribeScan2d) { subscribedToScan2d_ = true; - scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -531,7 +531,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks( else if(subscribeScan3d) { subscribedToScan3d_ = true; - scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -542,7 +542,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks( else if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL5(CommonDataSubscriber, rgbd3OdomInfo, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_); } else @@ -553,11 +553,11 @@ void CommonDataSubscriber::setupRGBD3Callbacks( #ifdef RTABMAP_SYNC_USER_DATA else if(subscribeUserData) { - userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options); + userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options); if(subscribeScanDescriptor) { subscribedToScanDescriptor_ = true; - scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -568,7 +568,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks( else if(subscribeScan2d) { subscribedToScan2d_ = true; - scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -579,7 +579,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks( else if(subscribeScan3d) { subscribedToScan3d_ = true; - scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -590,7 +590,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks( else if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL5(CommonDataSubscriber, rgbd3DataInfo, approxSync_, syncQueueSize_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_); } else @@ -604,7 +604,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks( if(subscribeScanDescriptor) { subscribedToScanDescriptor_ = true; - scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -615,7 +615,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks( else if(subscribeScan2d) { subscribedToScan2d_ = true; - scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -626,7 +626,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks( else if(subscribeScan3d) { subscribedToScan3d_ = true; - scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; @@ -638,7 +638,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks( else if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL4(CommonDataSubscriber, rgbd3Info, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), odomInfoSub_); } else diff --git a/rtabmap_sync/src/impl/CommonDataSubscriberRGBD4.cpp b/rtabmap_sync/src/impl/CommonDataSubscriberRGBD4.cpp index eeb3c9b5..49f56916 100644 --- a/rtabmap_sync/src/impl/CommonDataSubscriberRGBD4.cpp +++ b/rtabmap_sync/src/impl/CommonDataSubscriberRGBD4.cpp @@ -419,17 +419,17 @@ void CommonDataSubscriber::setupRGBD4Callbacks( for(int i=0; i<4; ++i) { rgbdSubs_[i] = new message_filters::Subscriber; - rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options); + rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), RCLCPP_QOS(topicQueueSize_, qosImage_), options); } #ifdef RTABMAP_SYNC_USER_DATA if(subscribeOdom && subscribeUserData) { - odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); - userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options); + odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); + userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options); if(subscribeScanDesc) { subscribedToScanDescriptor_ = true; - scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -440,7 +440,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks( else if(subscribeScan2d) { subscribedToScan2d_ = true; - scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -451,7 +451,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks( else if(subscribeScan3d) { subscribedToScan3d_ = true; - scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -462,7 +462,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks( else if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL7(CommonDataSubscriber, rgbd4OdomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_); } else @@ -474,11 +474,11 @@ void CommonDataSubscriber::setupRGBD4Callbacks( #endif if(subscribeOdom) { - odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); if(subscribeScanDesc) { subscribedToScanDescriptor_ = true; - scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -489,7 +489,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks( else if(subscribeScan2d) { subscribedToScan2d_ = true; - scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -500,7 +500,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks( else if(subscribeScan3d) { subscribedToScan3d_ = true; - scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -511,7 +511,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks( else if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL6(CommonDataSubscriber, rgbd4OdomInfo, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_); } else @@ -522,11 +522,11 @@ void CommonDataSubscriber::setupRGBD4Callbacks( #ifdef RTABMAP_SYNC_USER_DATA else if(subscribeUserData) { - userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options); + userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options); if(subscribeScanDesc) { subscribedToScanDescriptor_ = true; - scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -537,7 +537,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks( else if(subscribeScan2d) { subscribedToScan2d_ = true; - scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -548,7 +548,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks( else if(subscribeScan3d) { subscribedToScan3d_ = true; - scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -559,7 +559,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks( else if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL6(CommonDataSubscriber, rgbd4DataInfo, approxSync_, syncQueueSize_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_); } else @@ -573,7 +573,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks( if(subscribeScanDesc) { subscribedToScanDescriptor_ = true; - scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -584,7 +584,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks( else if(subscribeScan2d) { subscribedToScan2d_ = true; - scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -595,7 +595,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks( else if(subscribeScan3d) { subscribedToScan3d_ = true; - scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -606,7 +606,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks( else if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL5(CommonDataSubscriber, rgbd4Info, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), odomInfoSub_); } else diff --git a/rtabmap_sync/src/impl/CommonDataSubscriberRGBD5.cpp b/rtabmap_sync/src/impl/CommonDataSubscriberRGBD5.cpp index e60cb8fd..5bd23bf0 100644 --- a/rtabmap_sync/src/impl/CommonDataSubscriberRGBD5.cpp +++ b/rtabmap_sync/src/impl/CommonDataSubscriberRGBD5.cpp @@ -271,15 +271,15 @@ void CommonDataSubscriber::setupRGBD5Callbacks( for(int i=0; i<5; ++i) { rgbdSubs_[i] = new message_filters::Subscriber; - rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options); + rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), RCLCPP_QOS(topicQueueSize_, qosImage_), options); } if(subscribeOdom) { - odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); if(subscribeScanDesc) { subscribedToScanDescriptor_ = true; - scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -290,7 +290,7 @@ void CommonDataSubscriber::setupRGBD5Callbacks( else if(subscribeScan2d) { subscribedToScan2d_ = true; - scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -301,7 +301,7 @@ void CommonDataSubscriber::setupRGBD5Callbacks( else if(subscribeScan3d) { subscribedToScan3d_ = true; - scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -312,7 +312,7 @@ void CommonDataSubscriber::setupRGBD5Callbacks( else if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL7(CommonDataSubscriber, rgbd5OdomInfo, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), odomInfoSub_); } else @@ -325,7 +325,7 @@ void CommonDataSubscriber::setupRGBD5Callbacks( if(subscribeScanDesc) { subscribedToScanDescriptor_ = true; - scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -336,7 +336,7 @@ void CommonDataSubscriber::setupRGBD5Callbacks( else if(subscribeScan2d) { subscribedToScan2d_ = true; - scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -347,7 +347,7 @@ void CommonDataSubscriber::setupRGBD5Callbacks( else if(subscribeScan3d) { subscribedToScan3d_ = true; - scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -358,7 +358,7 @@ void CommonDataSubscriber::setupRGBD5Callbacks( else if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL6(CommonDataSubscriber, rgbd5Info, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), odomInfoSub_); } else diff --git a/rtabmap_sync/src/impl/CommonDataSubscriberRGBD6.cpp b/rtabmap_sync/src/impl/CommonDataSubscriberRGBD6.cpp index ff5a6016..4be5c41e 100644 --- a/rtabmap_sync/src/impl/CommonDataSubscriberRGBD6.cpp +++ b/rtabmap_sync/src/impl/CommonDataSubscriberRGBD6.cpp @@ -289,15 +289,15 @@ void CommonDataSubscriber::setupRGBD6Callbacks( for(int i=0; i<6; ++i) { rgbdSubs_[i] = new message_filters::Subscriber; - rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options); + rgbdSubs_[i]->subscribe(&node, uFormat("rgbd_image%d", i), RCLCPP_QOS(topicQueueSize_, qosImage_), options); } if(subscribeOdom) { - odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); if(subscribeScanDesc) { subscribedToScanDescriptor_ = true; - scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -308,7 +308,7 @@ void CommonDataSubscriber::setupRGBD6Callbacks( else if(subscribeScan2d) { subscribedToScan2d_ = true; - scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -319,7 +319,7 @@ void CommonDataSubscriber::setupRGBD6Callbacks( else if(subscribeScan3d) { subscribedToScan3d_ = true; - scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -330,7 +330,7 @@ void CommonDataSubscriber::setupRGBD6Callbacks( else if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL8(CommonDataSubscriber, rgbd6OdomInfo, approxSync_, syncQueueSize_, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), odomInfoSub_); } else @@ -343,7 +343,7 @@ void CommonDataSubscriber::setupRGBD6Callbacks( if(subscribeScanDesc) { subscribedToScanDescriptor_ = true; - scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -354,7 +354,7 @@ void CommonDataSubscriber::setupRGBD6Callbacks( else if(subscribeScan2d) { subscribedToScan2d_ = true; - scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -365,7 +365,7 @@ void CommonDataSubscriber::setupRGBD6Callbacks( else if(subscribeScan3d) { subscribedToScan3d_ = true; - scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -376,7 +376,7 @@ void CommonDataSubscriber::setupRGBD6Callbacks( else if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL7(CommonDataSubscriber, rgbd6Info, approxSync_, syncQueueSize_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]), (*rgbdSubs_[4]), (*rgbdSubs_[5]), odomInfoSub_); } else diff --git a/rtabmap_sync/src/impl/CommonDataSubscriberRGBDX.cpp b/rtabmap_sync/src/impl/CommonDataSubscriberRGBDX.cpp index 9fd8abaa..9e5248e5 100644 --- a/rtabmap_sync/src/impl/CommonDataSubscriberRGBDX.cpp +++ b/rtabmap_sync/src/impl/CommonDataSubscriberRGBDX.cpp @@ -334,16 +334,16 @@ void CommonDataSubscriber::setupRGBDXCallbacks( { RCLCPP_INFO(node.get_logger(), "Setup rgbdX callback"); - rgbdXSub_.subscribe(&node, "rgbd_images", rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options); + rgbdXSub_.subscribe(&node, "rgbd_images", RCLCPP_QOS(topicQueueSize_, qosImage_), options); #ifdef RTABMAP_SYNC_USER_DATA if(subscribeOdom && subscribeUserData) { - odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); - userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options); + odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); + userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options); if(subscribeScanDesc) { subscribedToScanDescriptor_ = true; - scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -354,7 +354,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks( else if(subscribeScan2d) { subscribedToScan2d_ = true; - scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -365,7 +365,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks( else if(subscribeScan3d) { subscribedToScan3d_ = true; - scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -376,7 +376,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks( else if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL4(CommonDataSubscriber, rgbdXOdomDataInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, rgbdXSub_, odomInfoSub_); } else @@ -388,11 +388,11 @@ void CommonDataSubscriber::setupRGBDXCallbacks( #endif if(subscribeOdom) { - odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); if(subscribeScanDesc) { subscribedToScanDescriptor_ = true; - scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -403,7 +403,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks( else if(subscribeScan2d) { subscribedToScan2d_ = true; - scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -414,7 +414,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks( else if(subscribeScan3d) { subscribedToScan3d_ = true; - scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -425,7 +425,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks( else if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL3(CommonDataSubscriber, rgbdXOdomInfo, approxSync_, syncQueueSize_, odomSub_, rgbdXSub_, odomInfoSub_); } else @@ -436,11 +436,11 @@ void CommonDataSubscriber::setupRGBDXCallbacks( #ifdef RTABMAP_SYNC_USER_DATA else if(subscribeUserData) { - userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options); + userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options); if(subscribeScanDesc) { subscribedToScanDescriptor_ = true; - scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -451,7 +451,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks( else if(subscribeScan2d) { subscribedToScan2d_ = true; - scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -462,7 +462,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks( else if(subscribeScan3d) { subscribedToScan3d_ = true; - scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -473,7 +473,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks( else if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL3(CommonDataSubscriber, rgbdXDataInfo, approxSync_, syncQueueSize_, userDataSub_, rgbdXSub_, odomInfoSub_); } else @@ -487,7 +487,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks( if(subscribeScanDesc) { subscribedToScanDescriptor_ = true; - scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -498,7 +498,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks( else if(subscribeScan2d) { subscribedToScan2d_ = true; - scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -509,7 +509,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks( else if(subscribeScan3d) { subscribedToScan3d_ = true; - scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = false; @@ -520,7 +520,7 @@ void CommonDataSubscriber::setupRGBDXCallbacks( else if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL2(CommonDataSubscriber, rgbdXInfo, approxSync_, syncQueueSize_, rgbdXSub_, odomInfoSub_); } else diff --git a/rtabmap_sync/src/impl/CommonDataSubscriberScan.cpp b/rtabmap_sync/src/impl/CommonDataSubscriberScan.cpp index d50b40f6..22a1ed6a 100644 --- a/rtabmap_sync/src/impl/CommonDataSubscriberScan.cpp +++ b/rtabmap_sync/src/impl/CommonDataSubscriberScan.cpp @@ -291,31 +291,31 @@ void CommonDataSubscriber::setupScanCallbacks( if(scanDescTopic) { subscribedToScanDescriptor_ = true; - scanDescSub_.subscribe(&node, "scan_descriptor", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanDescSub_.subscribe(&node, "scan_descriptor", RCLCPP_QOS(topicQueueSize_, qosScan_), options); } else if(scan2dTopic) { subscribedToScan2d_ = true; - scanSub_.subscribe(&node, "scan", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scanSub_.subscribe(&node, "scan", RCLCPP_QOS(topicQueueSize_, qosScan_), options); } else { subscribedToScan3d_ = true; - scan3dSub_.subscribe(&node, "scan_cloud", rclcpp::QoS(topicQueueSize_).reliability(qosScan_).get_rmw_qos_profile(), options); + scan3dSub_.subscribe(&node, "scan_cloud", RCLCPP_QOS(topicQueueSize_, qosScan_), options); } #ifdef RTABMAP_SYNC_USER_DATA if(subscribeOdom && subscribeUserData) { - odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); - userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options); + odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); + userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options); if(scanDescTopic) { if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL4(CommonDataSubscriber, odomDataScanDescInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, scanDescSub_, odomInfoSub_); } else @@ -328,7 +328,7 @@ void CommonDataSubscriber::setupScanCallbacks( if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL4(CommonDataSubscriber, odomDataScan2dInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, scanSub_, odomInfoSub_); } else @@ -341,7 +341,7 @@ void CommonDataSubscriber::setupScanCallbacks( if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL4(CommonDataSubscriber, odomDataScan3dInfo, approxSync_, syncQueueSize_, odomSub_, userDataSub_, scan3dSub_, odomInfoSub_); } else @@ -354,14 +354,14 @@ void CommonDataSubscriber::setupScanCallbacks( #endif if(subscribeOdom) { - odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); if(scanDescTopic) { if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL3(CommonDataSubscriber, odomScanDescInfo, approxSync_, syncQueueSize_, odomSub_, scanDescSub_, odomInfoSub_); } else @@ -374,7 +374,7 @@ void CommonDataSubscriber::setupScanCallbacks( if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL3(CommonDataSubscriber, odomScan2dInfo, approxSync_, syncQueueSize_, odomSub_, scanSub_, odomInfoSub_); } else @@ -387,7 +387,7 @@ void CommonDataSubscriber::setupScanCallbacks( if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL3(CommonDataSubscriber, odomScan3dInfo, approxSync_, syncQueueSize_, odomSub_, scan3dSub_, odomInfoSub_); } else @@ -399,14 +399,14 @@ void CommonDataSubscriber::setupScanCallbacks( #ifdef RTABMAP_SYNC_USER_DATA else if(subscribeUserData) { - userDataSub_.subscribe(&node, "user_data", rclcpp::QoS(topicQueueSize_).reliability(qosUserData_).get_rmw_qos_profile(), options); + userDataSub_.subscribe(&node, "user_data", RCLCPP_QOS(topicQueueSize_, qosUserData_), options); if(scanDescTopic) { if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL3(CommonDataSubscriber, dataScanDescInfo, approxSync_, syncQueueSize_, userDataSub_, scanDescSub_, odomInfoSub_); } else @@ -419,7 +419,7 @@ void CommonDataSubscriber::setupScanCallbacks( if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL3(CommonDataSubscriber, dataScan2dInfo, approxSync_, syncQueueSize_, userDataSub_, scanSub_, odomInfoSub_); } else @@ -432,7 +432,7 @@ void CommonDataSubscriber::setupScanCallbacks( if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL3(CommonDataSubscriber, dataScan3dInfo, approxSync_, syncQueueSize_, userDataSub_, scan3dSub_, odomInfoSub_); } else @@ -445,7 +445,7 @@ void CommonDataSubscriber::setupScanCallbacks( else if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); if(scanDescTopic) { SYNC_DECL2(CommonDataSubscriber, scanDescInfo, approxSync_, syncQueueSize_, scanDescSub_, odomInfoSub_); diff --git a/rtabmap_sync/src/impl/CommonDataSubscriberSensorData.cpp b/rtabmap_sync/src/impl/CommonDataSubscriberSensorData.cpp index 3aed5411..2eb1c6b1 100644 --- a/rtabmap_sync/src/impl/CommonDataSubscriberSensorData.cpp +++ b/rtabmap_sync/src/impl/CommonDataSubscriberSensorData.cpp @@ -75,14 +75,14 @@ void CommonDataSubscriber::setupSensorDataCallbacks( { RCLCPP_INFO(node.get_logger(), "Setup SensorData callback"); - sensorDataSub_.subscribe(&node, "sensor_data", rclcpp::QoS(topicQueueSize_).reliability(qosSensorData_).get_rmw_qos_profile(), options); + sensorDataSub_.subscribe(&node, "sensor_data", RCLCPP_QOS(topicQueueSize_, qosSensorData_), options); if(subscribeOdom) { - odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL3(CommonDataSubscriber, sensorDataOdomInfo, approxSync_, syncQueueSize_, odomSub_, sensorDataSub_, odomInfoSub_); } else @@ -95,7 +95,7 @@ void CommonDataSubscriber::setupSensorDataCallbacks( if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL2(CommonDataSubscriber, sensorDataInfo, approxSync_, syncQueueSize_, sensorDataSub_, odomInfoSub_); } else diff --git a/rtabmap_sync/src/impl/CommonDataSubscriberStereo.cpp b/rtabmap_sync/src/impl/CommonDataSubscriberStereo.cpp index d9d9ff16..8ddd3e65 100644 --- a/rtabmap_sync/src/impl/CommonDataSubscriberStereo.cpp +++ b/rtabmap_sync/src/impl/CommonDataSubscriberStereo.cpp @@ -100,17 +100,17 @@ void CommonDataSubscriber::setupStereoCallbacks( image_transport::TransportHints hints(&node); imageRectLeft_.subscribe(&node, "left/image_rect", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options); imageRectRight_.subscribe(&node, "right/image_rect", hints.getTransport(), rclcpp::QoS(topicQueueSize_).reliability(qosImage_).get_rmw_qos_profile(), options); - cameraInfoLeft_.subscribe(&node, "left/camera_info", rclcpp::QoS(topicQueueSize_).reliability(qosCameraInfo_).get_rmw_qos_profile(), options); - cameraInfoRight_.subscribe(&node, "right/camera_info", rclcpp::QoS(topicQueueSize_).reliability(qosCameraInfo_).get_rmw_qos_profile(), options); + cameraInfoLeft_.subscribe(&node, "left/camera_info", RCLCPP_QOS(topicQueueSize_, qosCameraInfo_), options); + cameraInfoRight_.subscribe(&node, "right/camera_info", RCLCPP_QOS(topicQueueSize_, qosCameraInfo_), options); if(subscribeOdom) { - odomSub_.subscribe(&node, "odom", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomSub_.subscribe(&node, "odom", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL6(CommonDataSubscriber, stereoOdomInfo, approxSync_, syncQueueSize_, odomSub_, imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_, odomInfoSub_); } else @@ -123,7 +123,7 @@ void CommonDataSubscriber::setupStereoCallbacks( if(subscribeOdomInfo) { subscribedToOdomInfo_ = true; - odomInfoSub_.subscribe(&node, "odom_info", rclcpp::QoS(topicQueueSize_).reliability(qosOdom_).get_rmw_qos_profile(), options); + odomInfoSub_.subscribe(&node, "odom_info", RCLCPP_QOS(topicQueueSize_, qosOdom_), options); SYNC_DECL5(CommonDataSubscriber, stereoInfo, approxSync_, syncQueueSize_, imageRectLeft_, imageRectRight_, cameraInfoLeft_, cameraInfoRight_, odomInfoSub_); } else diff --git a/rtabmap_sync/src/nodelets/rgb_sync.cpp b/rtabmap_sync/src/nodelets/rgb_sync.cpp index f129edc4..9f249390 100644 --- a/rtabmap_sync/src/nodelets/rgb_sync.cpp +++ b/rtabmap_sync/src/nodelets/rgb_sync.cpp @@ -100,7 +100,7 @@ RGBSync::RGBSync(const rclcpp::NodeOptions & options) : image_transport::TransportHints hints(this); imageSub_.subscribe(this, "rgb/image", hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile()); - cameraInfoSub_.subscribe(this, "rgb/camera_info", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosCaminfo).get_rmw_qos_profile()); + cameraInfoSub_.subscribe(this, "rgb/camera_info", RCLCPP_QOS(topicQueueSize, qosCaminfo)); std::string subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s", get_name(), diff --git a/rtabmap_sync/src/nodelets/rgbd_sync.cpp b/rtabmap_sync/src/nodelets/rgbd_sync.cpp index 56132aca..9aecf358 100644 --- a/rtabmap_sync/src/nodelets/rgbd_sync.cpp +++ b/rtabmap_sync/src/nodelets/rgbd_sync.cpp @@ -115,7 +115,7 @@ RGBDSync::RGBDSync(const rclcpp::NodeOptions & options) : std::string depthTopic = this->get_node_topics_interface()->resolve_topic_name("depth/image"); // Humble doesn't resolve base topic, fixed by https://github.com/ros-perception/image_common/commit/ea7589ae8c1f7ecb83d6aab7b4c890c2d630d27a imageSub_.subscribe(this, rgbTopic, rgbImageTransport, rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile()); imageDepthSub_.subscribe(this, depthTopic, depthImageTransport, rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile()); - cameraInfoSub_.subscribe(this, "rgb/camera_info", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile()); + cameraInfoSub_.subscribe(this, "rgb/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo)); std::string subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s,\n %s", get_name(), diff --git a/rtabmap_sync/src/nodelets/rgbdx_sync.cpp b/rtabmap_sync/src/nodelets/rgbdx_sync.cpp index e1ada274..9714073b 100644 --- a/rtabmap_sync/src/nodelets/rgbdx_sync.cpp +++ b/rtabmap_sync/src/nodelets/rgbdx_sync.cpp @@ -80,7 +80,7 @@ RGBDXSync::RGBDXSync(const rclcpp::NodeOptions & options) : for(int i=0; i; - rgbdSubs_[i]->subscribe(this, uFormat("rgbd_image%d", i), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile()); + rgbdSubs_[i]->subscribe(this, uFormat("rgbd_image%d", i), RCLCPP_QOS(topicQueueSize, qos)); } std::string name_ = get_name(); diff --git a/rtabmap_sync/src/nodelets/stereo_sync.cpp b/rtabmap_sync/src/nodelets/stereo_sync.cpp index f9408406..a1b4767c 100644 --- a/rtabmap_sync/src/nodelets/stereo_sync.cpp +++ b/rtabmap_sync/src/nodelets/stereo_sync.cpp @@ -99,8 +99,8 @@ StereoSync::StereoSync(const rclcpp::NodeOptions & options) : image_transport::TransportHints hints(this); imageLeftSub_.subscribe(this, "left/image_rect", hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile()); imageRightSub_.subscribe(this, "right/image_rect", hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile()); - cameraInfoLeftSub_.subscribe(this, "left/camera_info"), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile(); - cameraInfoRightSub_.subscribe(this, "right/camera_info", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile()); + cameraInfoLeftSub_.subscribe(this, "left/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo)); + cameraInfoRightSub_.subscribe(this, "right/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo)); std::string subscribedTopicsMsg = uFormat("\n%s subscribed to (%s sync%s):\n %s,\n %s,\n %s,\n %s", get_name(), diff --git a/rtabmap_util/include/rtabmap_util/point_cloud_aggregator.hpp b/rtabmap_util/include/rtabmap_util/point_cloud_aggregator.hpp index 1cf61833..8c62fe79 100644 --- a/rtabmap_util/include/rtabmap_util/point_cloud_aggregator.hpp +++ b/rtabmap_util/include/rtabmap_util/point_cloud_aggregator.hpp @@ -33,9 +33,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include #include -#include -#include -#include +#include +#include +#include namespace rtabmap_util { diff --git a/rtabmap_util/include/rtabmap_util/point_cloud_assembler.hpp b/rtabmap_util/include/rtabmap_util/point_cloud_assembler.hpp index f39ee576..252970f3 100644 --- a/rtabmap_util/include/rtabmap_util/point_cloud_assembler.hpp +++ b/rtabmap_util/include/rtabmap_util/point_cloud_assembler.hpp @@ -34,8 +34,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include #include -#include -#include +#include +#include #include #include diff --git a/rtabmap_util/include/rtabmap_util/point_cloud_xyz.hpp b/rtabmap_util/include/rtabmap_util/point_cloud_xyz.hpp index 668feacf..7da37828 100644 --- a/rtabmap_util/include/rtabmap_util/point_cloud_xyz.hpp +++ b/rtabmap_util/include/rtabmap_util/point_cloud_xyz.hpp @@ -36,9 +36,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include #include -#include -#include -#include +#include +#include +#include #include #include diff --git a/rtabmap_util/include/rtabmap_util/point_cloud_xyzrgb.hpp b/rtabmap_util/include/rtabmap_util/point_cloud_xyzrgb.hpp index 2bec4fa7..86692b49 100644 --- a/rtabmap_util/include/rtabmap_util/point_cloud_xyzrgb.hpp +++ b/rtabmap_util/include/rtabmap_util/point_cloud_xyzrgb.hpp @@ -38,9 +38,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include #include -#include -#include -#include +#include +#include +#include #include #include diff --git a/rtabmap_util/include/rtabmap_util/pointcloud_to_depthimage.hpp b/rtabmap_util/include/rtabmap_util/pointcloud_to_depthimage.hpp index dbad53a6..ff408984 100644 --- a/rtabmap_util/include/rtabmap_util/pointcloud_to_depthimage.hpp +++ b/rtabmap_util/include/rtabmap_util/pointcloud_to_depthimage.hpp @@ -37,9 +37,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include #include -#include -#include -#include +#include +#include +#include namespace rtabmap_util { diff --git a/rtabmap_util/src/nodelets/imu_to_tf.cpp b/rtabmap_util/src/nodelets/imu_to_tf.cpp index 636ba256..48c1db40 100644 --- a/rtabmap_util/src/nodelets/imu_to_tf.cpp +++ b/rtabmap_util/src/nodelets/imu_to_tf.cpp @@ -28,7 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. #include #include #include -#include +#include #include namespace rtabmap_util diff --git a/rtabmap_util/src/nodelets/point_cloud_aggregator.cpp b/rtabmap_util/src/nodelets/point_cloud_aggregator.cpp index 4891aee7..a8cc5333 100644 --- a/rtabmap_util/src/nodelets/point_cloud_aggregator.cpp +++ b/rtabmap_util/src/nodelets/point_cloud_aggregator.cpp @@ -87,14 +87,14 @@ PointCloudAggregator::PointCloudAggregator(const rclcpp::NodeOptions & options) cloudPub_ = create_publisher("combined_cloud", rclcpp::QoS(1).reliability((rmw_qos_reliability_policy_t)qos)); - cloudSub_1_.subscribe(this, "cloud1", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile()); - cloudSub_2_.subscribe(this, "cloud2", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile()); + cloudSub_1_.subscribe(this, "cloud1", RCLCPP_QOS(topicQueueSize, qos)); + cloudSub_2_.subscribe(this, "cloud2", RCLCPP_QOS(topicQueueSize, qos)); std::string subscribedTopicsMsg; if(count == 4) { - cloudSub_3_.subscribe(this, "cloud3", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile()); - cloudSub_4_.subscribe(this, "cloud4", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile()); + cloudSub_3_.subscribe(this, "cloud3", RCLCPP_QOS(topicQueueSize, qos)); + cloudSub_4_.subscribe(this, "cloud4", RCLCPP_QOS(topicQueueSize, qos)); if(approx) { approxSync4_ = new message_filters::Synchronizer(ApproxSync4Policy(syncQueueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_, cloudSub_4_); @@ -118,7 +118,7 @@ PointCloudAggregator::PointCloudAggregator(const rclcpp::NodeOptions & options) } else if(count == 3) { - cloudSub_3_.subscribe(this, "cloud3", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile()); + cloudSub_3_.subscribe(this, "cloud3", RCLCPP_QOS(topicQueueSize, qos)); if(approx) { approxSync3_ = new message_filters::Synchronizer(ApproxSync3Policy(syncQueueSize), cloudSub_1_, cloudSub_2_, cloudSub_3_); diff --git a/rtabmap_util/src/nodelets/point_cloud_assembler.cpp b/rtabmap_util/src/nodelets/point_cloud_assembler.cpp index 99b64ccf..ff81dd54 100644 --- a/rtabmap_util/src/nodelets/point_cloud_assembler.cpp +++ b/rtabmap_util/src/nodelets/point_cloud_assembler.cpp @@ -147,9 +147,9 @@ PointCloudAssembler::PointCloudAssembler(const rclcpp::NodeOptions & options) : } else if(subscribeOdomInfo) { - syncCloudSub_.subscribe(this, "cloud", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile()); - syncOdomSub_.subscribe(this, "odom", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosOdom).get_rmw_qos_profile()); - syncOdomInfoSub_.subscribe(this, "odom_info", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosOdom).get_rmw_qos_profile()); + syncCloudSub_.subscribe(this, "cloud", RCLCPP_QOS(topicQueueSize, qos)); + syncOdomSub_.subscribe(this, "odom", RCLCPP_QOS(topicQueueSize, qosOdom)); + syncOdomInfoSub_.subscribe(this, "odom_info", RCLCPP_QOS(topicQueueSize, qosOdom)); exactInfoSync_ = new message_filters::Synchronizer(syncInfoPolicy(syncQueueSize), syncCloudSub_, syncOdomSub_, syncOdomInfoSub_); exactInfoSync_->registerCallback(std::bind(&rtabmap_util::PointCloudAssembler::callbackCloudOdomInfo, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3)); subscribedTopicsMsg_ = uFormat("\n%s subscribed to (exact sync):\n %s,\n %s", @@ -160,8 +160,8 @@ PointCloudAssembler::PointCloudAssembler(const rclcpp::NodeOptions & options) : } else { - syncCloudSub_.subscribe(this, "cloud", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile()); - syncOdomSub_.subscribe(this, "odom", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosOdom).get_rmw_qos_profile()); + syncCloudSub_.subscribe(this, "cloud", RCLCPP_QOS(topicQueueSize, qos)); + syncOdomSub_.subscribe(this, "odom", RCLCPP_QOS(topicQueueSize, qosOdom)); exactSync_ = new message_filters::Synchronizer(syncPolicy(syncQueueSize), syncCloudSub_, syncOdomSub_); exactSync_->registerCallback(std::bind(&rtabmap_util::PointCloudAssembler::callbackCloudOdom, this, std::placeholders::_1, std::placeholders::_2)); subscribedTopicsMsg_ = uFormat("\n%s subscribed to (exact sync):\n %s,\n %s", diff --git a/rtabmap_util/src/nodelets/point_cloud_xyz.cpp b/rtabmap_util/src/nodelets/point_cloud_xyz.cpp index 9cd7bde8..f66f4663 100644 --- a/rtabmap_util/src/nodelets/point_cloud_xyz.cpp +++ b/rtabmap_util/src/nodelets/point_cloud_xyz.cpp @@ -158,10 +158,10 @@ PointCloudXYZ::PointCloudXYZ(const rclcpp::NodeOptions & options) : image_transport::TransportHints hints(this); imageDepthSub_.subscribe(this, "depth/image", hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile()); - cameraInfoSub_.subscribe(this, "depth/camera_info", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile()); + cameraInfoSub_.subscribe(this, "depth/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo)); - disparitySub_.subscribe(this, "disparity/image", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile()); - disparityCameraInfoSub_.subscribe(this, "disparity/camera_info", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile()); + disparitySub_.subscribe(this, "disparity/image", RCLCPP_QOS(topicQueueSize, qos)); + disparityCameraInfoSub_.subscribe(this, "disparity/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo)); } PointCloudXYZ::~PointCloudXYZ() diff --git a/rtabmap_util/src/nodelets/point_cloud_xyzrgb.cpp b/rtabmap_util/src/nodelets/point_cloud_xyzrgb.cpp index fb5bd560..5d33ffba 100644 --- a/rtabmap_util/src/nodelets/point_cloud_xyzrgb.cpp +++ b/rtabmap_util/src/nodelets/point_cloud_xyzrgb.cpp @@ -187,14 +187,14 @@ PointCloudXYZRGB::PointCloudXYZRGB(const rclcpp::NodeOptions & options) : image_transport::TransportHints hints(this); imageSub_.subscribe(this, "rgb/image", hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile()); imageDepthSub_.subscribe(this, "depth/image", hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile()); - cameraInfoSub_.subscribe(this, "rgb/camera_info", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile()); + cameraInfoSub_.subscribe(this, "rgb/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo)); - imageDisparitySub_.subscribe(this, "disparity", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile()); + imageDisparitySub_.subscribe(this, "disparity", RCLCPP_QOS(topicQueueSize, qos)); imageLeft_.subscribe(this, "left/image", hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile()); imageRight_.subscribe(this, "right/image", hints.getTransport(), rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile()); - cameraInfoLeft_.subscribe(this, "left/camera_info", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile()); - cameraInfoRight_.subscribe(this, "right/camera_info", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile()); + cameraInfoLeft_.subscribe(this, "left/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo)); + cameraInfoRight_.subscribe(this, "right/camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo)); } PointCloudXYZRGB::~PointCloudXYZRGB() diff --git a/rtabmap_util/src/nodelets/pointcloud_to_depthimage.cpp b/rtabmap_util/src/nodelets/pointcloud_to_depthimage.cpp index 869b922b..070b456e 100644 --- a/rtabmap_util/src/nodelets/pointcloud_to_depthimage.cpp +++ b/rtabmap_util/src/nodelets/pointcloud_to_depthimage.cpp @@ -125,8 +125,8 @@ PointCloudToDepthImage::PointCloudToDepthImage(const rclcpp::NodeOptions & optio exactSync_->registerCallback(std::bind(&PointCloudToDepthImage::callback, this, std::placeholders::_1, std::placeholders::_2)); } - pointCloudSub_.subscribe(this, "cloud", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile()); - cameraInfoSub_.subscribe(this, "camera_info", rclcpp::QoS(topicQueueSize).reliability((rmw_qos_reliability_policy_t)qosCamInfo).get_rmw_qos_profile()); + pointCloudSub_.subscribe(this, "cloud", RCLCPP_QOS(topicQueueSize, qos)); + cameraInfoSub_.subscribe(this, "camera_info", RCLCPP_QOS(topicQueueSize, qosCamInfo)); } PointCloudToDepthImage::~PointCloudToDepthImage() diff --git a/rtabmap_viz/src/GuiWrapper.cpp b/rtabmap_viz/src/GuiWrapper.cpp index 0da4ef78..44ac1c97 100644 --- a/rtabmap_viz/src/GuiWrapper.cpp +++ b/rtabmap_viz/src/GuiWrapper.cpp @@ -147,8 +147,8 @@ GuiWrapper::GuiWrapper(const rclcpp::NodeOptions & options) : } else { - infoTopic_.subscribe(this, "info", rclcpp::QoS(this->getTopicQueueSize()).get_rmw_qos_profile()); - mapDataTopic_.subscribe(this, "mapData", rclcpp::QoS(this->getTopicQueueSize()).get_rmw_qos_profile()); + infoTopic_.subscribe(this, "info", RCLCPP_QOS(this->getTopicQueueSize(), rclcpp::ReliabilityPolicy::SystemDefault)); + mapDataTopic_.subscribe(this, "mapData", RCLCPP_QOS(this->getTopicQueueSize(), rclcpp::ReliabilityPolicy::SystemDefault)); infoMapSync_ = new message_filters::Synchronizer( MyInfoMapSyncPolicy(this->getSyncQueueSize()), infoTopic_, @@ -156,8 +156,8 @@ GuiWrapper::GuiWrapper(const rclcpp::NodeOptions & options) : infoMapSync_->registerCallback(std::bind(&GuiWrapper::infoMapCallback, this, std::placeholders::_1, std::placeholders::_2)); } - goalTopic_.subscribe(this, "goal_node", rclcpp::QoS(this->getTopicQueueSize()).get_rmw_qos_profile()); - pathTopic_.subscribe(this, "global_path", rclcpp::QoS(this->getTopicQueueSize()).get_rmw_qos_profile()); + goalTopic_.subscribe(this, "goal_node", RCLCPP_QOS(this->getTopicQueueSize(), rclcpp::ReliabilityPolicy::SystemDefault)); + pathTopic_.subscribe(this, "global_path", RCLCPP_QOS(this->getTopicQueueSize(), rclcpp::ReliabilityPolicy::SystemDefault)); goalPathSync_ = new message_filters::Synchronizer( MyGoalPathSyncPolicy(this->getSyncQueueSize()), goalTopic_, From ca6a2c2ff77f6e328df42721f1f0145bb5374ec4 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Sat, 12 Jul 2025 17:18:44 -0700 Subject: [PATCH 2/2] bump 0.22.1 --- .github/workflows/ros2.yml | 4 +++- rtabmap_conversions/package.xml | 2 +- rtabmap_demos/package.xml | 2 +- rtabmap_examples/package.xml | 2 +- rtabmap_launch/package.xml | 2 +- rtabmap_msgs/package.xml | 2 +- rtabmap_odom/package.xml | 2 +- rtabmap_python/package.xml | 2 +- rtabmap_ros/package.xml | 2 +- rtabmap_rviz_plugins/package.xml | 2 +- rtabmap_slam/package.xml | 2 +- rtabmap_sync/package.xml | 2 +- rtabmap_util/package.xml | 2 +- rtabmap_viz/package.xml | 2 +- 14 files changed, 16 insertions(+), 14 deletions(-) diff --git a/.github/workflows/ros2.yml b/.github/workflows/ros2.yml index 790f78c4..8f33cab2 100644 --- a/.github/workflows/ros2.yml +++ b/.github/workflows/ros2.yml @@ -16,13 +16,15 @@ jobs: runs-on: ubuntu-latest strategy: matrix: - ros_distro: [humble, jazzy, kilted] + ros_distro: [humble, jazzy, kilted, rolling] include: - ros_distro: humble skip_keys: '' - ros_distro: jazzy skip_keys: '' - ros_distro: kilted + skip_keys: '' + - ros_distro: rolling skip_keys: 'nav2_bringup nav2_msgs' fail-fast: false container: diff --git a/rtabmap_conversions/package.xml b/rtabmap_conversions/package.xml index 3a9484cf..a0c94b20 100644 --- a/rtabmap_conversions/package.xml +++ b/rtabmap_conversions/package.xml @@ -2,7 +2,7 @@ rtabmap_conversions - 0.22.0 + 0.22.1 RTAB-Map's conversions package. This package can be used to convert rtabmap_msgs's msgs into RTAB-Map's library objects. Mathieu Labbe Mathieu Labbe diff --git a/rtabmap_demos/package.xml b/rtabmap_demos/package.xml index d65cbfc7..ea63e6e9 100644 --- a/rtabmap_demos/package.xml +++ b/rtabmap_demos/package.xml @@ -2,7 +2,7 @@ rtabmap_demos - 0.22.0 + 0.22.1 RTAB-Map's demo launch files. Mathieu Labbe Mathieu Labbe diff --git a/rtabmap_examples/package.xml b/rtabmap_examples/package.xml index e851d2e3..9c6804a8 100644 --- a/rtabmap_examples/package.xml +++ b/rtabmap_examples/package.xml @@ -2,7 +2,7 @@ rtabmap_examples - 0.22.0 + 0.22.1 RTAB-Map's example launch files. Mathieu Labbe Mathieu Labbe diff --git a/rtabmap_launch/package.xml b/rtabmap_launch/package.xml index f674e8f9..4f5f13dd 100644 --- a/rtabmap_launch/package.xml +++ b/rtabmap_launch/package.xml @@ -2,7 +2,7 @@ rtabmap_launch - 0.22.0 + 0.22.1 RTAB-Map's main launch files. Mathieu Labbe Mathieu Labbe diff --git a/rtabmap_msgs/package.xml b/rtabmap_msgs/package.xml index 136fb15a..c03cb92e 100644 --- a/rtabmap_msgs/package.xml +++ b/rtabmap_msgs/package.xml @@ -2,7 +2,7 @@ rtabmap_msgs - 0.22.0 + 0.22.1 RTAB-Map's msgs package. Mathieu Labbe Mathieu Labbe diff --git a/rtabmap_odom/package.xml b/rtabmap_odom/package.xml index c51f592f..245a8d4e 100644 --- a/rtabmap_odom/package.xml +++ b/rtabmap_odom/package.xml @@ -2,7 +2,7 @@ rtabmap_odom - 0.22.0 + 0.22.1 RTAB-Map's odometry package. Mathieu Labbe Mathieu Labbe diff --git a/rtabmap_python/package.xml b/rtabmap_python/package.xml index d56a425c..67b36a40 100644 --- a/rtabmap_python/package.xml +++ b/rtabmap_python/package.xml @@ -2,7 +2,7 @@ rtabmap_python - 0.22.0 + 0.22.1 RTAB-Map's python package. Mathieu Labbe Mathieu Labbe diff --git a/rtabmap_ros/package.xml b/rtabmap_ros/package.xml index 2da81cf3..7088e8b7 100644 --- a/rtabmap_ros/package.xml +++ b/rtabmap_ros/package.xml @@ -2,7 +2,7 @@ rtabmap_ros - 0.22.0 + 0.22.1 RTAB-Map Stack diff --git a/rtabmap_rviz_plugins/package.xml b/rtabmap_rviz_plugins/package.xml index ada5c080..326ab8f2 100644 --- a/rtabmap_rviz_plugins/package.xml +++ b/rtabmap_rviz_plugins/package.xml @@ -2,7 +2,7 @@ rtabmap_rviz_plugins - 0.22.0 + 0.22.1 RTAB-Map's rviz plugins. Mathieu Labbe Mathieu Labbe diff --git a/rtabmap_slam/package.xml b/rtabmap_slam/package.xml index 08543237..32f0dbf5 100644 --- a/rtabmap_slam/package.xml +++ b/rtabmap_slam/package.xml @@ -2,7 +2,7 @@ rtabmap_slam - 0.22.0 + 0.22.1 RTAB-Map's SLAM package. Mathieu Labbe Mathieu Labbe diff --git a/rtabmap_sync/package.xml b/rtabmap_sync/package.xml index 769155cc..cd766488 100644 --- a/rtabmap_sync/package.xml +++ b/rtabmap_sync/package.xml @@ -2,7 +2,7 @@ rtabmap_sync - 0.22.0 + 0.22.1 RTAB-Map's synchronization package. Mathieu Labbe Mathieu Labbe diff --git a/rtabmap_util/package.xml b/rtabmap_util/package.xml index eb365082..a802b4f0 100644 --- a/rtabmap_util/package.xml +++ b/rtabmap_util/package.xml @@ -2,7 +2,7 @@ rtabmap_util - 0.22.0 + 0.22.1 RTAB-Map's various useful nodes and nodelets. Mathieu Labbe Mathieu Labbe diff --git a/rtabmap_viz/package.xml b/rtabmap_viz/package.xml index b8e2ce78..c57bf971 100644 --- a/rtabmap_viz/package.xml +++ b/rtabmap_viz/package.xml @@ -2,7 +2,7 @@ rtabmap_viz - 0.22.0 + 0.22.1 RTAB-Map's visualization package. Mathieu Labbe Mathieu Labbe