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Split librtabmap_ros.so in to 3 libraries to decrease compilation time. Added scan-only common subscribers.

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This commit is contained in:
matlabbe
2018-11-14 17:51:47 -05:00
parent adcaa98cec
commit 2ac46c983a
13 changed files with 928 additions and 48 deletions
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include/rtabmap_ros/CommonDataSubscriber.h
+42 -1
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@@ -65,7 +65,7 @@ public:
bool isSubscribedToScan2d() const {return subscribedToScan2d_;}
bool isSubscribedToScan3d() const {return subscribedToScan3d_;}
bool isSubscribedToOdomInfo() const {return subscribedToOdomInfo_;}
bool isDataSubscribed() const {return isSubscribedToDepth() || isSubscribedToStereo() || isSubscribedToRGBD();}
bool isDataSubscribed() const {return isSubscribedToDepth() || isSubscribedToStereo() || isSubscribedToRGBD() || isSubscribedToScan2d() || isSubscribedToScan3d();}
int rgbdCameras() const {return isSubscribedToRGBD()?(int)rgbdSubs_.size():0;}
int getQueueSize() const {return queueSize_;}
bool isApproxSync() const {return approxSync_;}
@@ -91,6 +91,12 @@ protected:
const sensor_msgs::LaserScanConstPtr& scanMsg,
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg) = 0;
virtual void commonLaserScanCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::UserDataConstPtr & userDataMsg,
const sensor_msgs::LaserScanConstPtr& scanMsg,
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg) = 0;
void commonSingleDepthCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
@@ -163,6 +169,15 @@ private:
bool subscribeOdomInfo,
int queueSize,
bool approxSync);
void setupScanCallbacks(
ros::NodeHandle & nh,
ros::NodeHandle & pnh,
bool scan2dTopic,
bool subscribeOdom,
bool subscribeUserData,
bool subscribeOdomInfo,
int queueSize,
bool approxSync);
protected:
std::string subscribedTopicsMsg_;
@@ -201,6 +216,9 @@ private:
message_filters::Subscriber<sensor_msgs::PointCloud2> scan3dSub_;
message_filters::Subscriber<rtabmap_ros::OdomInfo> odomInfoSub_;
ros::Subscriber scan2dSubOnly_;
ros::Subscriber scan3dSubOnly_;
// RGB + Depth
DATA_SYNCS3(depth, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo);
DATA_SYNCS4(depthScan2d, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
@@ -369,6 +387,29 @@ private:
DATA_SYNCS8(rgbd4OdomDataScan2dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
DATA_SYNCS8(rgbd4OdomDataScan3dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
// Scan
void scan2dCallback(const sensor_msgs::LaserScanConstPtr&);
void scan3dCallback(const sensor_msgs::PointCloud2ConstPtr&);
DATA_SYNCS2(scan2dInfo, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
DATA_SYNCS2(scan3dInfo, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
// Scan + Odom
DATA_SYNCS2(odomScan2d, nav_msgs::Odometry, sensor_msgs::LaserScan);
DATA_SYNCS2(odomScan3d, nav_msgs::Odometry, sensor_msgs::PointCloud2);
DATA_SYNCS3(odomScan2dInfo, nav_msgs::Odometry, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
DATA_SYNCS3(odomScan3dInfo, nav_msgs::Odometry, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
// Scan + User Data
DATA_SYNCS2(dataScan2d, rtabmap_ros::UserData, sensor_msgs::LaserScan);
DATA_SYNCS2(dataScan3d, rtabmap_ros::UserData, sensor_msgs::PointCloud2);
DATA_SYNCS3(dataScan2dInfo, rtabmap_ros::UserData, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
DATA_SYNCS3(dataScan3dInfo, rtabmap_ros::UserData, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
// Scan + Odom + User Data
DATA_SYNCS3(odomDataScan2d, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::LaserScan);
DATA_SYNCS3(odomDataScan3d, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::PointCloud2);
DATA_SYNCS4(odomDataScan2dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
DATA_SYNCS4(odomDataScan3dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
};
} /* namespace rtabmap_ros */
include/rtabmap_ros/CoreWrapper.h
+14 -8
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@@ -99,14 +99,14 @@ private:
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
void commonDepthCallbackImpl(
const std::string & odomFrameId,
const rtabmap_ros::UserDataConstPtr & userDataMsg,
const std::vector<cv_bridge::CvImageConstPtr> & imageMsgs,
const std::vector<cv_bridge::CvImageConstPtr> & depthMsgs,
const std::vector<sensor_msgs::CameraInfo> & cameraInfoMsgs,
const sensor_msgs::LaserScanConstPtr& scan2dMsg,
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
const std::string & odomFrameId,
const rtabmap_ros::UserDataConstPtr & userDataMsg,
const std::vector<cv_bridge::CvImageConstPtr> & imageMsgs,
const std::vector<cv_bridge::CvImageConstPtr> & depthMsgs,
const std::vector<sensor_msgs::CameraInfo> & cameraInfoMsgs,
const sensor_msgs::LaserScanConstPtr& scan2dMsg,
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
virtual void commonStereoCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::UserDataConstPtr & userDataMsg,
@@ -117,6 +117,12 @@ private:
const sensor_msgs::LaserScanConstPtr& scanMsg,
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
virtual void commonLaserScanCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::UserDataConstPtr & userDataMsg,
const sensor_msgs::LaserScanConstPtr& scanMsg,
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
void defaultCallback(const sensor_msgs::ImageConstPtr & imageMsg); // no odom
include/rtabmap_ros/GuiWrapper.h
+6
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@@ -86,6 +86,12 @@ private:
const sensor_msgs::LaserScanConstPtr& scan2dMsg,
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
virtual void commonLaserScanCallback(
const nav_msgs::OdometryConstPtr & odomMsg,
const rtabmap_ros::UserDataConstPtr & userDataMsg,
const sensor_msgs::LaserScanConstPtr& scan2dMsg,
const sensor_msgs::PointCloud2ConstPtr& scan3dMsg,
const rtabmap_ros::OdomInfoConstPtr& odomInfoMsg);
void defaultCallback(const nav_msgs::OdometryConstPtr & odomMsg);