First version rtabmap_launch working

2026-10-04 08:47:45 +08:00 · 2023-02-19 18:55:24 -08:00
parent 2f4aadacbb
commit 2dd931248e
418 changed files with 5304 additions and 3493 deletions
@@ -0,0 +1,130 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include "ros/ros.h"
+#include "pluginlib/class_list_macros.hpp"
+#include "nodelet/nodelet.h"
+
+#include <message_filters/subscriber.h>
+#include <message_filters/time_synchronizer.h>
+#include <message_filters/sync_policies/approximate_time.h>
+
+#include <image_transport/image_transport.h>
+#include <image_transport/subscriber_filter.h>
+
+#include <sensor_msgs/CameraInfo.h>
+#include <nav_msgs/Odometry.h>
+
+namespace rtabmap_legacy
+{
+
+class DataOdomSyncNodelet : public nodelet::Nodelet
+{
+public:
+	//Constructor
+	DataOdomSyncNodelet():
+		sync_(0)
+	{
+	}
+
+	virtual ~DataOdomSyncNodelet()
+	{
+		delete sync_;
+	}
+
+private:
+	virtual void onInit()
+	{
+		ros::NodeHandle& nh = getNodeHandle();
+		ros::NodeHandle& private_nh = getPrivateNodeHandle();
+
+		ros::NodeHandle rgb_nh(nh, "rgb");
+		ros::NodeHandle depth_nh(nh, "depth");
+		ros::NodeHandle rgb_pnh(private_nh, "rgb");
+		ros::NodeHandle depth_pnh(private_nh, "depth");
+		image_transport::ImageTransport rgb_it(rgb_nh);
+		image_transport::ImageTransport depth_it(depth_nh);
+		image_transport::TransportHints hintsRgb("raw", ros::TransportHints(), rgb_pnh);
+		image_transport::TransportHints hintsDepth("raw", ros::TransportHints(), depth_pnh);
+
+		int queueSize = 10;
+		private_nh.param("queue_size", queueSize, queueSize);
+
+		sync_ = new message_filters::Synchronizer<MySyncPolicy>(MySyncPolicy(queueSize), image_sub_, image_depth_sub_, info_sub_, odom_sub_);
+		sync_->registerCallback(boost::bind(&DataOdomSyncNodelet::callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
+
+		image_sub_.subscribe(rgb_it, rgb_nh.resolveName("image_in"), 1, hintsRgb);
+		image_depth_sub_.subscribe(depth_it, depth_nh.resolveName("image_in"), 1, hintsDepth);
+		info_sub_.subscribe(rgb_nh, "camera_info_in", 1);
+		odom_sub_.subscribe(nh, "odom_in", 1);
+
+		imagePub_ = rgb_it.advertise("image_out", 1);
+		imageDepthPub_ = depth_it.advertise("image_out", 1);
+		infoPub_ = rgb_nh.advertise<sensor_msgs::CameraInfo>("camera_info_out", 1);
+		odomPub_ = nh.advertise<nav_msgs::Odometry>("odom_out", 1);
+	};
+
+	void callback(const sensor_msgs::ImageConstPtr& image,
+			const sensor_msgs::ImageConstPtr& imageDepth,
+			const sensor_msgs::CameraInfoConstPtr& camInfo,
+			const nav_msgs::OdometryConstPtr & odom)
+	{
+		if(imagePub_.getNumSubscribers())
+		{
+			imagePub_.publish(image);
+		}
+		if(imageDepthPub_.getNumSubscribers())
+		{
+			imageDepthPub_.publish(imageDepth);
+		}
+		if(infoPub_.getNumSubscribers())
+		{
+			infoPub_.publish(camInfo);
+		}
+		if(odomPub_.getNumSubscribers())
+		{
+			odomPub_.publish(odom);
+		}
+	}
+
+	image_transport::Publisher imagePub_;
+	image_transport::Publisher imageDepthPub_;
+	ros::Publisher infoPub_;
+	ros::Publisher odomPub_;
+
+	image_transport::SubscriberFilter image_sub_;
+	image_transport::SubscriberFilter image_depth_sub_;
+	message_filters::Subscriber<sensor_msgs::CameraInfo> info_sub_;
+	message_filters::Subscriber<nav_msgs::Odometry> odom_sub_;
+	typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, nav_msgs::Odometry> MySyncPolicy;
+	message_filters::Synchronizer<MySyncPolicy> * sync_;
+
+};
+
+
+PLUGINLIB_EXPORT_CLASS(rtabmap_legacy::DataOdomSyncNodelet, nodelet::Nodelet);
+}