i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-07 02:07:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
src/CommonDataSubscriber.cpp
+60 -6
View File
@@ -206,7 +206,29 @@ CommonDataSubscriber::CommonDataSubscriber(bool gui) :
SYNC_INIT(rgbd4OdomDataScan3d),
SYNC_INIT(rgbd4OdomDataInfo),
SYNC_INIT(rgbd4OdomDataScan2dInfo),
SYNC_INIT(rgbd4OdomDataScan3dInfo)
SYNC_INIT(rgbd4OdomDataScan3dInfo),
// Scan
SYNC_INIT(scan2dInfo),
SYNC_INIT(scan3dInfo),
// Scan + Odom
SYNC_INIT(odomScan2d),
SYNC_INIT(odomScan3d),
SYNC_INIT(odomScan2dInfo),
SYNC_INIT(odomScan3dInfo),
// Scan + User Data
SYNC_INIT(dataScan2d),
SYNC_INIT(dataScan3d),
SYNC_INIT(dataScan2dInfo),
SYNC_INIT(dataScan3dInfo),
// Scan + Odom + User Data
SYNC_INIT(odomDataScan2d),
SYNC_INIT(odomDataScan3d),
SYNC_INIT(odomDataScan2dInfo),
SYNC_INIT(odomDataScan3dInfo)
{
}
@@ -256,8 +278,7 @@ void CommonDataSubscriber::setupCallbacks(ros::NodeHandle & nh, ros::NodeHandle
{
if(!subscribedToDepth_ && !subscribedToStereo_ && !subscribedToRGBD_)
{
ROS_WARN("When subscribing to laser scan, you should subscribe to depth, stereo or rgbd too. Subscribing to depth by default...");
subscribedToDepth_ = true;
approxSync_ = false; // default for scan: exact sync
}
}
if(subscribedToStereo_)
@@ -373,7 +394,20 @@ void CommonDataSubscriber::setupCallbacks(ros::NodeHandle & nh, ros::NodeHandle
approxSync_);
}
}
if(subscribedToDepth_ || subscribedToStereo_ || subscribedToRGBD_)
else if(subscribeScan2d || subscribeScan3d)
{
setupScanCallbacks(
nh,
pnh,
subscribeScan2d,
subscribeOdom,
subscribeUserData,
subscribeOdomInfo,
queueSize_,
approxSync_);
}
if(subscribedToDepth_ || subscribedToStereo_ || subscribedToRGBD_ || subscribedToScan2d_ || subscribedToScan3d_)
{
warningThread_ = new boost::thread(boost::bind(&CommonDataSubscriber::warningLoop, this));
ROS_INFO("%s", subscribedTopicsMsg_.c_str());
@@ -556,6 +590,28 @@ CommonDataSubscriber::~CommonDataSubscriber()
SYNC_DEL(rgbd4OdomDataScan2dInfo);
SYNC_DEL(rgbd4OdomDataScan3dInfo);
// Scan
SYNC_DEL(scan2dInfo);
SYNC_DEL(scan3dInfo);
// Scan + Odom
SYNC_DEL(odomScan2d);
SYNC_DEL(odomScan3d);
SYNC_DEL(odomScan2dInfo);
SYNC_DEL(odomScan3dInfo);
// Scan + User Data
SYNC_DEL(dataScan2d);
SYNC_DEL(dataScan3d);
SYNC_DEL(dataScan2dInfo);
SYNC_DEL(dataScan3dInfo);
// Scan + Odom + User Data
SYNC_DEL(odomDataScan2d);
SYNC_DEL(odomDataScan3d);
SYNC_DEL(odomDataScan2dInfo);
SYNC_DEL(odomDataScan3dInfo);
for(unsigned int i=0; i<rgbdSubs_.size(); ++i)
{
delete rgbdSubs_[i];
@@ -620,8 +676,6 @@ void CommonDataSubscriber::commonSingleDepthCallback(
{
commonStereoCallback(odomMsg, userDataMsg, imageMsg, depthMsg, rgbCameraInfoMsg, depthCameraInfoMsg, scanMsg, scan3dMsg, odomInfoMsg);
}
}
} /* namespace rtabmap_ros */