mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-06 01:37:46 +08:00
First version rtabmap_launch working
This commit is contained in:
matlabbe
@@ -0,0 +1,621 @@
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
#ifndef INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBER_H_
|
||||
#define INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBER_H_
|
||||
|
||||
#include <message_filters/subscriber.h>
|
||||
#include <message_filters/synchronizer.h>
|
||||
#include <message_filters/sync_policies/approximate_time.h>
|
||||
#include <message_filters/sync_policies/exact_time.h>
|
||||
|
||||
#include <image_transport/image_transport.h>
|
||||
#include <image_transport/subscriber_filter.h>
|
||||
|
||||
#include <cv_bridge/cv_bridge.h>
|
||||
|
||||
#include <sensor_msgs/PointCloud2.h>
|
||||
#include <sensor_msgs/Image.h>
|
||||
#include <sensor_msgs/CameraInfo.h>
|
||||
#include <sensor_msgs/LaserScan.h>
|
||||
|
||||
#include <nav_msgs/Odometry.h>
|
||||
|
||||
#include <rtabmap_msgs/RGBDImage.h>
|
||||
#include <rtabmap_msgs/RGBDImages.h>
|
||||
#include <rtabmap_msgs/UserData.h>
|
||||
#include <rtabmap_msgs/OdomInfo.h>
|
||||
#include <rtabmap_msgs/ScanDescriptor.h>
|
||||
#include <rtabmap_sync/CommonDataSubscriberDefines.h>
|
||||
|
||||
#include <boost/thread.hpp>
|
||||
|
||||
namespace rtabmap_sync {
|
||||
|
||||
class CommonDataSubscriber {
|
||||
public:
|
||||
CommonDataSubscriber(bool gui);
|
||||
virtual ~CommonDataSubscriber();
|
||||
|
||||
bool isSubscribedToDepth() const {return subscribedToDepth_;}
|
||||
bool isSubscribedToStereo() const {return subscribedToStereo_;}
|
||||
bool isSubscribedToRGB() const {return subscribedToRGB_;}
|
||||
bool isSubscribedToOdom() const {return subscribedToOdom_;}
|
||||
bool isSubscribedToRGBD() const {return subscribedToRGBD_;}
|
||||
bool isSubscribedToScan2d() const {return subscribedToScan2d_;}
|
||||
bool isSubscribedToScan3d() const {return subscribedToScan3d_;}
|
||||
bool isSubscribedToOdomInfo() const {return subscribedToOdomInfo_;}
|
||||
bool isDataSubscribed() const {return isSubscribedToDepth() || isSubscribedToStereo() || isSubscribedToRGBD() || isSubscribedToScan2d() || isSubscribedToScan3d() || isSubscribedToRGB() || isSubscribedToOdom();}
|
||||
int rgbdCameras() const {return isSubscribedToRGBD()?(int)rgbdSubs_.size():0;}
|
||||
int getQueueSize() const {return queueSize_;}
|
||||
bool isApproxSync() const {return approxSync_;}
|
||||
const std::string & name() const {return name_;}
|
||||
|
||||
protected:
|
||||
void setupCallbacks(
|
||||
ros::NodeHandle & nh,
|
||||
ros::NodeHandle & pnh,
|
||||
const std::string & name);
|
||||
virtual void commonMultiCameraCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const std::vector<cv_bridge::CvImageConstPtr> & imageMsgs,
|
||||
const std::vector<cv_bridge::CvImageConstPtr> & depthMsgs,
|
||||
const std::vector<sensor_msgs::CameraInfo> & cameraInfoMsgs,
|
||||
const std::vector<sensor_msgs::CameraInfo> & depthCameraInfoMsgs,
|
||||
const sensor_msgs::LaserScan& scanMsg,
|
||||
const sensor_msgs::PointCloud2& scan3dMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg,
|
||||
const std::vector<rtabmap_msgs::GlobalDescriptor> & globalDescriptorMsgs = std::vector<rtabmap_msgs::GlobalDescriptor>(),
|
||||
const std::vector<std::vector<rtabmap_msgs::KeyPoint> > & localKeyPoints = std::vector<std::vector<rtabmap_msgs::KeyPoint> >(),
|
||||
const std::vector<std::vector<rtabmap_msgs::Point3f> > & localPoints3d = std::vector<std::vector<rtabmap_msgs::Point3f> >(),
|
||||
const std::vector<cv::Mat> & localDescriptors = std::vector<cv::Mat>()) = 0;
|
||||
virtual void commonLaserScanCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const sensor_msgs::LaserScan& scanMsg,
|
||||
const sensor_msgs::PointCloud2& scan3dMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg,
|
||||
const rtabmap_msgs::GlobalDescriptor & globalDescriptor = rtabmap_msgs::GlobalDescriptor()) = 0;
|
||||
virtual void commonOdomCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg) = 0;
|
||||
|
||||
void commonSingleCameraCallback(
|
||||
const nav_msgs::OdometryConstPtr & odomMsg,
|
||||
const rtabmap_msgs::UserDataConstPtr & userDataMsg,
|
||||
const cv_bridge::CvImageConstPtr & imageMsg,
|
||||
const cv_bridge::CvImageConstPtr & depthMsg,
|
||||
const sensor_msgs::CameraInfo & rgbCameraInfoMsg,
|
||||
const sensor_msgs::CameraInfo & depthCameraInfoMsg,
|
||||
const sensor_msgs::LaserScan& scanMsg,
|
||||
const sensor_msgs::PointCloud2& scan3dMsg,
|
||||
const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg,
|
||||
const std::vector<rtabmap_msgs::GlobalDescriptor> & globalDescriptorMsgs = std::vector<rtabmap_msgs::GlobalDescriptor>(),
|
||||
const std::vector<rtabmap_msgs::KeyPoint> & localKeyPoints = std::vector<rtabmap_msgs::KeyPoint>(),
|
||||
const std::vector<rtabmap_msgs::Point3f> & localPoints3d = std::vector<rtabmap_msgs::Point3f>(),
|
||||
const cv::Mat & localDescriptors = cv::Mat());
|
||||
|
||||
private:
|
||||
void warningLoop();
|
||||
void callbackCalled() {callbackCalled_ = true;}
|
||||
void setupDepthCallbacks(
|
||||
ros::NodeHandle & nh,
|
||||
ros::NodeHandle & pnh,
|
||||
bool subscribeOdom,
|
||||
bool subscribeUserData,
|
||||
bool subscribeScan2d,
|
||||
bool subscribeScan3d,
|
||||
bool subscribeScanDesc,
|
||||
bool subscribeOdomInfo,
|
||||
int queueSize,
|
||||
bool approxSync);
|
||||
void setupStereoCallbacks(
|
||||
ros::NodeHandle & nh,
|
||||
ros::NodeHandle & pnh,
|
||||
bool subscribeOdom,
|
||||
bool subscribeOdomInfo,
|
||||
int queueSize,
|
||||
bool approxSync);
|
||||
void setupRGBCallbacks(
|
||||
ros::NodeHandle & nh,
|
||||
ros::NodeHandle & pnh,
|
||||
bool subscribeOdom,
|
||||
bool subscribeUserData,
|
||||
bool subscribeScan2d,
|
||||
bool subscribeScan3d,
|
||||
bool subscribeScanDesc,
|
||||
bool subscribeOdomInfo,
|
||||
int queueSize,
|
||||
bool approxSync);
|
||||
void setupRGBDCallbacks(
|
||||
ros::NodeHandle & nh,
|
||||
ros::NodeHandle & pnh,
|
||||
bool subscribeOdom,
|
||||
bool subscribeUserData,
|
||||
bool subscribeScan2d,
|
||||
bool subscribeScan3d,
|
||||
bool subscribeScanDesc,
|
||||
bool subscribeOdomInfo,
|
||||
int queueSize,
|
||||
bool approxSync);
|
||||
void setupRGBDXCallbacks(
|
||||
ros::NodeHandle & nh,
|
||||
ros::NodeHandle & pnh,
|
||||
bool subscribeOdom,
|
||||
bool subscribeUserData,
|
||||
bool subscribeScan2d,
|
||||
bool subscribeScan3d,
|
||||
bool subscribeScanDesc,
|
||||
bool subscribeOdomInfo,
|
||||
int queueSize,
|
||||
bool approxSync);
|
||||
#ifdef RTABMAP_SYNC_MULTI_RGBD
|
||||
void setupRGBD2Callbacks(
|
||||
ros::NodeHandle & nh,
|
||||
ros::NodeHandle & pnh,
|
||||
bool subscribeOdom,
|
||||
bool subscribeUserData,
|
||||
bool subscribeScan2d,
|
||||
bool subscribeScan3d,
|
||||
bool subscribeScanDesc,
|
||||
bool subscribeOdomInfo,
|
||||
int queueSize,
|
||||
bool approxSync);
|
||||
void setupRGBD3Callbacks(
|
||||
ros::NodeHandle & nh,
|
||||
ros::NodeHandle & pnh,
|
||||
bool subscribeOdom,
|
||||
bool subscribeUserData,
|
||||
bool subscribeScan2d,
|
||||
bool subscribeScan3d,
|
||||
bool subscribeScanDesc,
|
||||
bool subscribeOdomInfo,
|
||||
int queueSize,
|
||||
bool approxSync);
|
||||
void setupRGBD4Callbacks(
|
||||
ros::NodeHandle & nh,
|
||||
ros::NodeHandle & pnh,
|
||||
bool subscribeOdom,
|
||||
bool subscribeUserData,
|
||||
bool subscribeScan2d,
|
||||
bool subscribeScan3d,
|
||||
bool subscribeScanDesc,
|
||||
bool subscribeOdomInfo,
|
||||
int queueSize,
|
||||
bool approxSync);
|
||||
void setupRGBD5Callbacks(
|
||||
ros::NodeHandle & nh,
|
||||
ros::NodeHandle & pnh,
|
||||
bool subscribeOdom,
|
||||
bool subscribeUserData,
|
||||
bool subscribeScan2d,
|
||||
bool subscribeScan3d,
|
||||
bool subscribeScanDesc,
|
||||
bool subscribeOdomInfo,
|
||||
int queueSize,
|
||||
bool approxSync);
|
||||
void setupRGBD6Callbacks(
|
||||
ros::NodeHandle & nh,
|
||||
ros::NodeHandle & pnh,
|
||||
bool subscribeOdom,
|
||||
bool subscribeUserData,
|
||||
bool subscribeScan2d,
|
||||
bool subscribeScan3d,
|
||||
bool subscribeScanDesc,
|
||||
bool subscribeOdomInfo,
|
||||
int queueSize,
|
||||
bool approxSync);
|
||||
#endif
|
||||
void setupScanCallbacks(
|
||||
ros::NodeHandle & nh,
|
||||
ros::NodeHandle & pnh,
|
||||
bool subscribeScan2d,
|
||||
bool subscribeScanDesc,
|
||||
bool subscribeOdom,
|
||||
bool subscribeUserData,
|
||||
bool subscribeOdomInfo,
|
||||
int queueSize,
|
||||
bool approxSync);
|
||||
void setupOdomCallbacks(
|
||||
ros::NodeHandle & nh,
|
||||
ros::NodeHandle & pnh,
|
||||
bool subscribeUserData,
|
||||
bool subscribeOdomInfo,
|
||||
int queueSize,
|
||||
bool approxSync);
|
||||
|
||||
protected:
|
||||
std::string subscribedTopicsMsg_;
|
||||
int queueSize_;
|
||||
|
||||
private:
|
||||
bool approxSync_;
|
||||
boost::thread* warningThread_;
|
||||
bool callbackCalled_;
|
||||
bool subscribedToDepth_;
|
||||
bool subscribedToStereo_;
|
||||
bool subscribedToRGB_;
|
||||
bool subscribedToOdom_;
|
||||
bool subscribedToRGBD_;
|
||||
bool subscribedToScan2d_;
|
||||
bool subscribedToScan3d_;
|
||||
bool subscribedToScanDescriptor_;
|
||||
bool subscribedToOdomInfo_;
|
||||
std::string name_;
|
||||
|
||||
//for depth and rgb-only callbacks
|
||||
image_transport::SubscriberFilter imageSub_;
|
||||
image_transport::SubscriberFilter imageDepthSub_;
|
||||
message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoSub_;
|
||||
|
||||
//for rgbd callback
|
||||
ros::Subscriber rgbdSub_;
|
||||
std::vector<message_filters::Subscriber<rtabmap_msgs::RGBDImage>*> rgbdSubs_;
|
||||
ros::Subscriber rgbdXSubOnly_;
|
||||
message_filters::Subscriber<rtabmap_msgs::RGBDImages> rgbdXSub_;
|
||||
|
||||
//stereo callback
|
||||
image_transport::SubscriberFilter imageRectLeft_;
|
||||
image_transport::SubscriberFilter imageRectRight_;
|
||||
message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoLeft_;
|
||||
message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoRight_;
|
||||
|
||||
message_filters::Subscriber<nav_msgs::Odometry> odomSub_;
|
||||
message_filters::Subscriber<rtabmap_msgs::UserData> userDataSub_;
|
||||
message_filters::Subscriber<sensor_msgs::LaserScan> scanSub_;
|
||||
message_filters::Subscriber<sensor_msgs::PointCloud2> scan3dSub_;
|
||||
message_filters::Subscriber<rtabmap_msgs::ScanDescriptor> scanDescSub_;
|
||||
message_filters::Subscriber<rtabmap_msgs::OdomInfo> odomInfoSub_;
|
||||
|
||||
ros::Subscriber scan2dSubOnly_;
|
||||
ros::Subscriber scan3dSubOnly_;
|
||||
ros::Subscriber scanDescSubOnly_;
|
||||
ros::Subscriber odomSubOnly_;
|
||||
|
||||
// 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);
|
||||
DATA_SYNCS4(depthScan3d, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS4(depthScanDesc, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS4(depthInfo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS5(depthScan2dInfo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS5(depthScan3dInfo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS5(depthScanDescInfo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// RGB + Depth + Odom
|
||||
DATA_SYNCS4(depthOdom, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo);
|
||||
DATA_SYNCS5(depthOdomScan2d, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS5(depthOdomScan3d, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS5(depthOdomScanDesc, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS5(depthOdomInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS6(depthOdomScan2dInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS6(depthOdomScan3dInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS6(depthOdomScanDescInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor, rtabmap_msgs::OdomInfo);
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// RGB + Depth + User Data
|
||||
DATA_SYNCS4(depthData, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo);
|
||||
DATA_SYNCS5(depthDataScan2d, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS5(depthDataScan3d, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS5(depthDataScanDesc, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS5(depthDataInfo, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS6(depthDataScan2dInfo, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS6(depthDataScan3dInfo, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS6(depthDataScanDescInfo, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// RGB + Depth + Odom + User Data
|
||||
DATA_SYNCS5(depthOdomData, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo);
|
||||
DATA_SYNCS6(depthOdomDataScan2d, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS6(depthOdomDataScan3d, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS6(depthOdomDataScanDesc, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS6(depthOdomDataInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS7(depthOdomDataScan2dInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS7(depthOdomDataScan3dInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS7(depthOdomDataScanDescInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor, rtabmap_msgs::OdomInfo);
|
||||
#endif
|
||||
|
||||
// Stereo
|
||||
DATA_SYNCS4(stereo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo);
|
||||
DATA_SYNCS5(stereoInfo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// Stereo + Odom
|
||||
DATA_SYNCS5(stereoOdom, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo);
|
||||
DATA_SYNCS6(stereoOdomInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// RGB-only
|
||||
DATA_SYNCS2(rgb, sensor_msgs::Image, sensor_msgs::CameraInfo);
|
||||
DATA_SYNCS3(rgbScan2d, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS3(rgbScan3d, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS3(rgbScanDesc, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS3(rgbInfo, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS4(rgbScan2dInfo, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS4(rgbScan3dInfo, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS4(rgbScanDescInfo, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// RGB-only + Odom
|
||||
DATA_SYNCS3(rgbOdom, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo);
|
||||
DATA_SYNCS4(rgbOdomScan2d, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS4(rgbOdomScan3d, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS4(rgbOdomScanDesc, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS4(rgbOdomInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS5(rgbOdomScan2dInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS5(rgbOdomScan3dInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS5(rgbOdomScanDescInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor, rtabmap_msgs::OdomInfo);
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// RGB-only + User Data
|
||||
DATA_SYNCS3(rgbData, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo);
|
||||
DATA_SYNCS4(rgbDataScan2d, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS4(rgbDataScan3d, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS4(rgbDataScanDesc, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS4(rgbDataInfo, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS5(rgbDataScan2dInfo, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS5(rgbDataScan3dInfo, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS5(rgbDataScanDescInfo, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// RGB-only + Odom + User Data
|
||||
DATA_SYNCS4(rgbOdomData, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo);
|
||||
DATA_SYNCS5(rgbOdomDataScan2d, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS5(rgbOdomDataScan3d, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS5(rgbOdomDataScanDesc, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS5(rgbOdomDataInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS6(rgbOdomDataScan2dInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS6(rgbOdomDataScan3dInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS6(rgbOdomDataScanDescInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_msgs::ScanDescriptor, rtabmap_msgs::OdomInfo);
|
||||
#endif
|
||||
|
||||
// 1 RGBD
|
||||
void rgbdCallback(const rtabmap_msgs::RGBDImageConstPtr&);
|
||||
DATA_SYNCS2(rgbdScan2d, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS2(rgbdScan3d, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2)
|
||||
DATA_SYNCS2(rgbdScanDesc, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS2(rgbdInfo, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// 1 RGBD + Odom
|
||||
DATA_SYNCS2(rgbdOdom, nav_msgs::Odometry, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS3(rgbdOdomScan2d, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS3(rgbdOdomScan3d, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS3(rgbdOdomScanDesc, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS3(rgbdOdomInfo, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// 1 RGBD + User Data
|
||||
DATA_SYNCS2(rgbdData, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS3(rgbdDataScan2d, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS3(rgbdDataScan3d, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS3(rgbdDataScanDesc, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS3(rgbdDataInfo, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// 1 RGBD + Odom + User Data
|
||||
DATA_SYNCS3(rgbdOdomData, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS4(rgbdOdomDataScan2d, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS4(rgbdOdomDataScan3d, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS4(rgbdOdomDataScanDesc, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS4(rgbdOdomDataInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
#endif
|
||||
|
||||
// X RGBD
|
||||
void rgbdXCallback(const rtabmap_msgs::RGBDImagesConstPtr&);
|
||||
DATA_SYNCS2(rgbdXScan2d, rtabmap_msgs::RGBDImages, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS2(rgbdXScan3d, rtabmap_msgs::RGBDImages, sensor_msgs::PointCloud2)
|
||||
DATA_SYNCS2(rgbdXScanDesc, rtabmap_msgs::RGBDImages, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS2(rgbdXInfo, rtabmap_msgs::RGBDImages, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// X RGBD + Odom
|
||||
DATA_SYNCS2(rgbdXOdom, nav_msgs::Odometry, rtabmap_msgs::RGBDImages);
|
||||
DATA_SYNCS3(rgbdXOdomScan2d, nav_msgs::Odometry, rtabmap_msgs::RGBDImages, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS3(rgbdXOdomScan3d, nav_msgs::Odometry, rtabmap_msgs::RGBDImages, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS3(rgbdXOdomScanDesc, nav_msgs::Odometry, rtabmap_msgs::RGBDImages, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS3(rgbdXOdomInfo, nav_msgs::Odometry, rtabmap_msgs::RGBDImages, rtabmap_msgs::OdomInfo);
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// X RGBD + User Data
|
||||
DATA_SYNCS2(rgbdXData, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImages);
|
||||
DATA_SYNCS3(rgbdXDataScan2d, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImages, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS3(rgbdXDataScan3d, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImages, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS3(rgbdXDataScanDesc, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImages, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS3(rgbdXDataInfo, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImages, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// X RGBD + Odom + User Data
|
||||
DATA_SYNCS3(rgbdXOdomData, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImages);
|
||||
DATA_SYNCS4(rgbdXOdomDataScan2d, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImages, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS4(rgbdXOdomDataScan3d, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImages, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS4(rgbdXOdomDataScanDesc, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImages, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS4(rgbdXOdomDataInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImages, rtabmap_msgs::OdomInfo);
|
||||
#endif
|
||||
|
||||
#ifdef RTABMAP_SYNC_MULTI_RGBD
|
||||
// 2 RGBD
|
||||
DATA_SYNCS2(rgbd2, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS3(rgbd2Scan2d, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS3(rgbd2Scan3d, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS3(rgbd2ScanDesc, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS3(rgbd2Info, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// 2 RGBD + Odom
|
||||
DATA_SYNCS3(rgbd2Odom, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS4(rgbd2OdomScan2d, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS4(rgbd2OdomScan3d, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS4(rgbd2OdomScanDesc, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS4(rgbd2OdomInfo, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// 2 RGBD + User Data
|
||||
DATA_SYNCS3(rgbd2Data, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS4(rgbd2DataScan2d, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS4(rgbd2DataScan3d, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS4(rgbd2DataScanDesc, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS4(rgbd2DataInfo, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// 2 RGBD + Odom + User Data
|
||||
DATA_SYNCS4(rgbd2OdomData, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS5(rgbd2OdomDataScan2d, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS5(rgbd2OdomDataScan3d, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS5(rgbd2OdomDataScanDesc, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS5(rgbd2OdomDataInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
#endif
|
||||
|
||||
// 3 RGBD
|
||||
DATA_SYNCS3(rgbd3, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS4(rgbd3Scan2d, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS4(rgbd3Scan3d, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS4(rgbd3ScanDesc, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS4(rgbd3Info, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// 3 RGBD + Odom
|
||||
DATA_SYNCS4(rgbd3Odom, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS5(rgbd3OdomScan2d, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS5(rgbd3OdomScan3d, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS5(rgbd3OdomScanDesc, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS5(rgbd3OdomInfo, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// 3 RGBD + User Data
|
||||
DATA_SYNCS4(rgbd3Data, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS5(rgbd3DataScan2d, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS5(rgbd3DataScan3d, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS5(rgbd3DataScanDesc, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS5(rgbd3DataInfo, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// 3 RGBD + Odom + User Data
|
||||
DATA_SYNCS5(rgbd3OdomData, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS6(rgbd3OdomDataScan2d, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS6(rgbd3OdomDataScan3d, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS6(rgbd3OdomDataScanDesc, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS6(rgbd3OdomDataInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
#endif
|
||||
|
||||
// 4 RGBD
|
||||
DATA_SYNCS4(rgbd4, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS5(rgbd4Scan2d, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS5(rgbd4Scan3d, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS5(rgbd4ScanDesc, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS5(rgbd4Info, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// 4 RGBD + Odom
|
||||
DATA_SYNCS5(rgbd4Odom, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS6(rgbd4OdomScan2d, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS6(rgbd4OdomScan3d, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS6(rgbd4OdomScanDesc, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS6(rgbd4OdomInfo, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// 4 RGBD + User Data
|
||||
DATA_SYNCS5(rgbd4Data, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS6(rgbd4DataScan2d, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS6(rgbd4DataScan3d, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS6(rgbd4DataScanDesc, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS6(rgbd4DataInfo, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// 4 RGBD + Odom + User Data
|
||||
DATA_SYNCS6(rgbd4OdomData, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS7(rgbd4OdomDataScan2d, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS7(rgbd4OdomDataScan3d, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS7(rgbd4OdomDataScanDesc, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS7(rgbd4OdomDataInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
#endif
|
||||
|
||||
// 5 RGBD
|
||||
DATA_SYNCS5(rgbd5, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS6(rgbd5Scan2d, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS6(rgbd5Scan3d, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS6(rgbd5ScanDesc, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS6(rgbd5Info, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// 5 RGBD + Odom
|
||||
DATA_SYNCS6(rgbd5Odom, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS7(rgbd5OdomScan2d, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS7(rgbd5OdomScan3d, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS7(rgbd5OdomScanDesc, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS7(rgbd5OdomInfo, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// 6 RGBD
|
||||
DATA_SYNCS6(rgbd6, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS7(rgbd6Scan2d, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS7(rgbd6Scan3d, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS7(rgbd6ScanDesc, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS7(rgbd6Info, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// 6 RGBD + Odom
|
||||
DATA_SYNCS7(rgbd6Odom, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage);
|
||||
DATA_SYNCS8(rgbd6OdomScan2d, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS8(rgbd6OdomScan3d, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS8(rgbd6OdomScanDesc, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS8(rgbd6OdomInfo, nav_msgs::Odometry, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::RGBDImage, rtabmap_msgs::OdomInfo);
|
||||
|
||||
#endif //RTABMAP_SYNC_MULTI_RGBD
|
||||
|
||||
// Scan
|
||||
void scan2dCallback(const sensor_msgs::LaserScanConstPtr&);
|
||||
void scan3dCallback(const sensor_msgs::PointCloud2ConstPtr&);
|
||||
void scanDescCallback(const rtabmap_msgs::ScanDescriptorConstPtr&);
|
||||
DATA_SYNCS2(scan2dInfo, sensor_msgs::LaserScan, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS2(scan3dInfo, sensor_msgs::PointCloud2, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS2(scanDescInfo, rtabmap_msgs::ScanDescriptor, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// Scan + Odom
|
||||
DATA_SYNCS2(odomScan2d, nav_msgs::Odometry, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS2(odomScan3d, nav_msgs::Odometry, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS2(odomScanDesc, nav_msgs::Odometry, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS3(odomScan2dInfo, nav_msgs::Odometry, sensor_msgs::LaserScan, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS3(odomScan3dInfo, nav_msgs::Odometry, sensor_msgs::PointCloud2, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS3(odomScanDescInfo, nav_msgs::Odometry, rtabmap_msgs::ScanDescriptor, rtabmap_msgs::OdomInfo);
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// Scan + User Data
|
||||
DATA_SYNCS2(dataScan2d, rtabmap_msgs::UserData, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS2(dataScan3d, rtabmap_msgs::UserData, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS2(dataScanDesc, rtabmap_msgs::UserData, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS3(dataScan2dInfo, rtabmap_msgs::UserData, sensor_msgs::LaserScan, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS3(dataScan3dInfo, rtabmap_msgs::UserData, sensor_msgs::PointCloud2, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS3(dataScanDescInfo, rtabmap_msgs::UserData, rtabmap_msgs::ScanDescriptor, rtabmap_msgs::OdomInfo);
|
||||
|
||||
// Scan + Odom + User Data
|
||||
DATA_SYNCS3(odomDataScan2d, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::LaserScan);
|
||||
DATA_SYNCS3(odomDataScan3d, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::PointCloud2);
|
||||
DATA_SYNCS3(odomDataScanDesc, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::ScanDescriptor);
|
||||
DATA_SYNCS4(odomDataScan2dInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::LaserScan, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS4(odomDataScan3dInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, sensor_msgs::PointCloud2, rtabmap_msgs::OdomInfo);
|
||||
DATA_SYNCS4(odomDataScanDescInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::ScanDescriptor, rtabmap_msgs::OdomInfo);
|
||||
#endif
|
||||
|
||||
// Odom
|
||||
void odomCallback(const nav_msgs::OdometryConstPtr&);
|
||||
DATA_SYNCS2(odomInfo, nav_msgs::Odometry, rtabmap_msgs::OdomInfo);
|
||||
|
||||
#ifdef RTABMAP_SYNC_USER_DATA
|
||||
// Odom + User Data
|
||||
DATA_SYNCS2(odomData, nav_msgs::Odometry, rtabmap_msgs::UserData);
|
||||
DATA_SYNCS3(odomDataInfo, nav_msgs::Odometry, rtabmap_msgs::UserData, rtabmap_msgs::OdomInfo);
|
||||
#endif
|
||||
};
|
||||
|
||||
} /* namespace rtabmap_sync */
|
||||
|
||||
#endif /* INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBER_H_ */
|
||||
@@ -0,0 +1,263 @@
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
#ifndef INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBERIMPL_H_
|
||||
#define INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBERIMPL_H_
|
||||
|
||||
#include <rtabmap/utilite/UConversion.h>
|
||||
|
||||
#define DATA_SYNC2(PREFIX, SYNC_NAME, MSG0, MSG1) \
|
||||
typedef message_filters::sync_policies::SYNC_NAME##Time<MSG0, MSG1> PREFIX##SYNC_NAME##SyncPolicy; \
|
||||
message_filters::Synchronizer<PREFIX##SYNC_NAME##SyncPolicy> * PREFIX##SYNC_NAME##Sync_;
|
||||
|
||||
#define DATA_SYNCS2(PREFIX, MSG0, MSG1) \
|
||||
DATA_SYNC2(PREFIX, Approximate, MSG0, MSG1) \
|
||||
DATA_SYNC2(PREFIX, Exact, MSG0, MSG1) \
|
||||
void PREFIX##Callback(const MSG0##ConstPtr&, const MSG1##ConstPtr&);
|
||||
|
||||
#define DATA_SYNC3(PREFIX, SYNC_NAME, MSG0, MSG1, MSG2) \
|
||||
typedef message_filters::sync_policies::SYNC_NAME##Time<MSG0, MSG1, MSG2> PREFIX##SYNC_NAME##SyncPolicy; \
|
||||
message_filters::Synchronizer<PREFIX##SYNC_NAME##SyncPolicy> * PREFIX##SYNC_NAME##Sync_;
|
||||
|
||||
#define DATA_SYNCS3(PREFIX, MSG0, MSG1, MSG2) \
|
||||
DATA_SYNC3(PREFIX, Approximate, MSG0, MSG1, MSG2) \
|
||||
DATA_SYNC3(PREFIX, Exact, MSG0, MSG1, MSG2) \
|
||||
void PREFIX##Callback(const MSG0##ConstPtr&, const MSG1##ConstPtr&, const MSG2##ConstPtr&); \
|
||||
|
||||
#define DATA_SYNC4(PREFIX, SYNC_NAME, MSG0, MSG1, MSG2, MSG3) \
|
||||
typedef message_filters::sync_policies::SYNC_NAME##Time<MSG0, MSG1, MSG2, MSG3> PREFIX##SYNC_NAME##SyncPolicy; \
|
||||
message_filters::Synchronizer<PREFIX##SYNC_NAME##SyncPolicy> * PREFIX##SYNC_NAME##Sync_;
|
||||
|
||||
#define DATA_SYNCS4(PREFIX, MSG0, MSG1, MSG2, MSG3) \
|
||||
DATA_SYNC4(PREFIX, Approximate, MSG0, MSG1, MSG2, MSG3) \
|
||||
DATA_SYNC4(PREFIX, Exact, MSG0, MSG1, MSG2, MSG3) \
|
||||
void PREFIX##Callback(const MSG0##ConstPtr&, const MSG1##ConstPtr&, const MSG2##ConstPtr&, const MSG3##ConstPtr&); \
|
||||
|
||||
#define DATA_SYNC5(PREFIX, SYNC_NAME, MSG0, MSG1, MSG2, MSG3, MSG4) \
|
||||
typedef message_filters::sync_policies::SYNC_NAME##Time<MSG0, MSG1, MSG2, MSG3, MSG4> PREFIX##SYNC_NAME##SyncPolicy; \
|
||||
message_filters::Synchronizer<PREFIX##SYNC_NAME##SyncPolicy> * PREFIX##SYNC_NAME##Sync_;
|
||||
|
||||
#define DATA_SYNCS5(PREFIX, MSG0, MSG1, MSG2, MSG3, MSG4) \
|
||||
DATA_SYNC5(PREFIX, Approximate, MSG0, MSG1, MSG2, MSG3, MSG4) \
|
||||
DATA_SYNC5(PREFIX, Exact, MSG0, MSG1, MSG2, MSG3, MSG4) \
|
||||
void PREFIX##Callback(const MSG0##ConstPtr&, const MSG1##ConstPtr&, const MSG2##ConstPtr&, const MSG3##ConstPtr&, const MSG4##ConstPtr&); \
|
||||
|
||||
#define DATA_SYNC6(PREFIX, SYNC_NAME, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5) \
|
||||
typedef message_filters::sync_policies::SYNC_NAME##Time<MSG0, MSG1, MSG2, MSG3, MSG4, MSG5> PREFIX##SYNC_NAME##SyncPolicy; \
|
||||
message_filters::Synchronizer<PREFIX##SYNC_NAME##SyncPolicy> * PREFIX##SYNC_NAME##Sync_;
|
||||
|
||||
#define DATA_SYNCS6(PREFIX, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5) \
|
||||
DATA_SYNC6(PREFIX, Approximate, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5) \
|
||||
DATA_SYNC6(PREFIX, Exact, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5) \
|
||||
void PREFIX##Callback(const MSG0##ConstPtr&, const MSG1##ConstPtr&, const MSG2##ConstPtr&, const MSG3##ConstPtr&, const MSG4##ConstPtr&, const MSG5##ConstPtr&); \
|
||||
|
||||
#define DATA_SYNC7(PREFIX, SYNC_NAME, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6) \
|
||||
typedef message_filters::sync_policies::SYNC_NAME##Time<MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6> PREFIX##SYNC_NAME##SyncPolicy; \
|
||||
message_filters::Synchronizer<PREFIX##SYNC_NAME##SyncPolicy> * PREFIX##SYNC_NAME##Sync_;
|
||||
|
||||
#define DATA_SYNCS7(PREFIX, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6) \
|
||||
DATA_SYNC7(PREFIX, Approximate, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6) \
|
||||
DATA_SYNC7(PREFIX, Exact, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6) \
|
||||
void PREFIX##Callback(const MSG0##ConstPtr&, const MSG1##ConstPtr&, const MSG2##ConstPtr&, const MSG3##ConstPtr&, const MSG4##ConstPtr&, const MSG5##ConstPtr&, const MSG6##ConstPtr&); \
|
||||
|
||||
#define DATA_SYNC8(PREFIX, SYNC_NAME, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6, MSG7) \
|
||||
typedef message_filters::sync_policies::SYNC_NAME##Time<MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6, MSG7> PREFIX##SYNC_NAME##SyncPolicy; \
|
||||
message_filters::Synchronizer<PREFIX##SYNC_NAME##SyncPolicy> * PREFIX##SYNC_NAME##Sync_;
|
||||
|
||||
#define DATA_SYNCS8(PREFIX, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6, MSG7) \
|
||||
DATA_SYNC8(PREFIX, Approximate, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6, MSG7) \
|
||||
DATA_SYNC8(PREFIX, Exact, MSG0, MSG1, MSG2, MSG3, MSG4, MSG5, MSG6, MSG7) \
|
||||
void PREFIX##Callback(const MSG0##ConstPtr&, const MSG1##ConstPtr&, const MSG2##ConstPtr&, const MSG3##ConstPtr&, const MSG4##ConstPtr&, const MSG5##ConstPtr&, const MSG6##ConstPtr&, const MSG7##ConstPtr&); \
|
||||
|
||||
|
||||
// Constructor
|
||||
#define SYNC_INIT(PREFIX) \
|
||||
PREFIX##ApproximateSync_(0), \
|
||||
PREFIX##ExactSync_(0)
|
||||
|
||||
// Destructor
|
||||
#define SYNC_DEL(PREFIX) \
|
||||
if(PREFIX##ApproximateSync_) delete PREFIX##ApproximateSync_; \
|
||||
if(PREFIX##ExactSync_) delete PREFIX##ExactSync_;
|
||||
|
||||
// Sync declarations
|
||||
#define SYNC_DECL2(CLASS, PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1) \
|
||||
if(APPROX) \
|
||||
{ \
|
||||
PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
|
||||
PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1); \
|
||||
PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2)); \
|
||||
} \
|
||||
else \
|
||||
{ \
|
||||
PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
|
||||
PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1); \
|
||||
PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2)); \
|
||||
} \
|
||||
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s", \
|
||||
name_.c_str(), \
|
||||
APPROX?"approx":"exact", \
|
||||
SUB0.getTopic().c_str(), \
|
||||
SUB1.getTopic().c_str());
|
||||
|
||||
#define SYNC_DECL3(CLASS, PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2) \
|
||||
if(APPROX) \
|
||||
{ \
|
||||
PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
|
||||
PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2); \
|
||||
PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3)); \
|
||||
} \
|
||||
else \
|
||||
{ \
|
||||
PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
|
||||
PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2); \
|
||||
PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3)); \
|
||||
} \
|
||||
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s", \
|
||||
name_.c_str(), \
|
||||
APPROX?"approx":"exact", \
|
||||
SUB0.getTopic().c_str(), \
|
||||
SUB1.getTopic().c_str(), \
|
||||
SUB2.getTopic().c_str());
|
||||
|
||||
#define SYNC_DECL4(CLASS, PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3) \
|
||||
if(APPROX) \
|
||||
{ \
|
||||
PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
|
||||
PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3); \
|
||||
PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4)); \
|
||||
} \
|
||||
else \
|
||||
{ \
|
||||
PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
|
||||
PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3); \
|
||||
PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4)); \
|
||||
} \
|
||||
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s \\\n %s", \
|
||||
name_.c_str(), \
|
||||
APPROX?"approx":"exact", \
|
||||
SUB0.getTopic().c_str(), \
|
||||
SUB1.getTopic().c_str(), \
|
||||
SUB2.getTopic().c_str(), \
|
||||
SUB3.getTopic().c_str());
|
||||
|
||||
#define SYNC_DECL5(CLASS, PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3, SUB4) \
|
||||
if(APPROX) \
|
||||
{ \
|
||||
PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
|
||||
PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4); \
|
||||
PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5)); \
|
||||
} \
|
||||
else \
|
||||
{ \
|
||||
PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
|
||||
PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4); \
|
||||
PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5)); \
|
||||
} \
|
||||
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s \\\n %s \\\n %s", \
|
||||
name_.c_str(), \
|
||||
approxSync?"approx":"exact", \
|
||||
SUB0.getTopic().c_str(), \
|
||||
SUB1.getTopic().c_str(), \
|
||||
SUB2.getTopic().c_str(), \
|
||||
SUB3.getTopic().c_str(), \
|
||||
SUB4.getTopic().c_str());
|
||||
|
||||
#define SYNC_DECL6(CLASS, PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3, SUB4, SUB5) \
|
||||
if(APPROX) \
|
||||
{ \
|
||||
PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
|
||||
PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5); \
|
||||
PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, boost::placeholders::_6)); \
|
||||
} \
|
||||
else \
|
||||
{ \
|
||||
PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
|
||||
PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5); \
|
||||
PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, boost::placeholders::_6)); \
|
||||
} \
|
||||
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s", \
|
||||
name_.c_str(), \
|
||||
APPROX?"approx":"exact", \
|
||||
SUB0.getTopic().c_str(), \
|
||||
SUB1.getTopic().c_str(), \
|
||||
SUB2.getTopic().c_str(), \
|
||||
SUB3.getTopic().c_str(), \
|
||||
SUB4.getTopic().c_str(), \
|
||||
SUB5.getTopic().c_str());
|
||||
|
||||
#define SYNC_DECL7(CLASS, PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6) \
|
||||
if(APPROX) \
|
||||
{ \
|
||||
PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
|
||||
PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6); \
|
||||
PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, boost::placeholders::_6, boost::placeholders::_7)); \
|
||||
} \
|
||||
else \
|
||||
{ \
|
||||
PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
|
||||
PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6); \
|
||||
PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, boost::placeholders::_6, boost::placeholders::_7)); \
|
||||
} \
|
||||
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s", \
|
||||
name_.c_str(), \
|
||||
APPROX?"approx":"exact", \
|
||||
SUB0.getTopic().c_str(), \
|
||||
SUB1.getTopic().c_str(), \
|
||||
SUB2.getTopic().c_str(), \
|
||||
SUB3.getTopic().c_str(), \
|
||||
SUB4.getTopic().c_str(), \
|
||||
SUB5.getTopic().c_str(), \
|
||||
SUB6.getTopic().c_str());
|
||||
|
||||
#define SYNC_DECL8(CLASS, PREFIX, APPROX, QUEUE_SIZE, SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6, SUB7) \
|
||||
if(APPROX) \
|
||||
{ \
|
||||
PREFIX##ApproximateSync_ = new message_filters::Synchronizer<PREFIX##ApproximateSyncPolicy>( \
|
||||
PREFIX##ApproximateSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6, SUB7); \
|
||||
PREFIX##ApproximateSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, boost::placeholders::_6, boost::placeholders::_7, boost::placeholders::_8)); \
|
||||
} \
|
||||
else \
|
||||
{ \
|
||||
PREFIX##ExactSync_ = new message_filters::Synchronizer<PREFIX##ExactSyncPolicy>( \
|
||||
PREFIX##ExactSyncPolicy(QUEUE_SIZE), SUB0, SUB1, SUB2, SUB3, SUB4, SUB5, SUB6, SUB7); \
|
||||
PREFIX##ExactSync_->registerCallback(boost::bind(&CLASS::PREFIX##Callback, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, boost::placeholders::_6, boost::placeholders::_7, boost::placeholders::_8)); \
|
||||
} \
|
||||
subscribedTopicsMsg_ = uFormat("\n%s subscribed to (%s sync):\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s \\\n %s", \
|
||||
name_.c_str(), \
|
||||
APPROX?"approx":"exact", \
|
||||
SUB0.getTopic().c_str(), \
|
||||
SUB1.getTopic().c_str(), \
|
||||
SUB2.getTopic().c_str(), \
|
||||
SUB3.getTopic().c_str(), \
|
||||
SUB4.getTopic().c_str(), \
|
||||
SUB5.getTopic().c_str(), \
|
||||
SUB6.getTopic().c_str(), \
|
||||
SUB7.getTopic().c_str());
|
||||
|
||||
|
||||
#endif /* INCLUDE_RTABMAP_ROS_COMMONDATASUBSCRIBERIMPL_H_ */
|
||||
Reference in New Issue
Block a user