First version rtabmap_launch working

2026-10-08 02:37:45 +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 +1,118 @@
+/*
+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 <rtabmap_sync/CommonDataSubscriber.h>
+
+namespace rtabmap_sync {
+
+void CommonDataSubscriber::odomCallback(
+		const nav_msgs::OdometryConstPtr& odomMsg)
+{
+	callbackCalled();
+	rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
+	sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
+	rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
+	commonOdomCallback(odomMsg, userDataMsg, odomInfoMsg);
+}
+void CommonDataSubscriber::odomInfoCallback(
+		const nav_msgs::OdometryConstPtr& odomMsg,
+		const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
+{
+	callbackCalled();
+	rtabmap_msgs::UserDataConstPtr userDataMsg; // Null
+	sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
+	commonOdomCallback(odomMsg, userDataMsg, odomInfoMsg);
+}
+#ifdef RTABMAP_SYNC_USER_DATA
+void CommonDataSubscriber::odomDataCallback(
+		const nav_msgs::OdometryConstPtr& odomMsg,
+		const rtabmap_msgs::UserDataConstPtr & userDataMsg)
+{
+	callbackCalled();
+	rtabmap_msgs::OdomInfoConstPtr odomInfoMsg; // null
+	commonOdomCallback(odomMsg, userDataMsg, odomInfoMsg);
+}
+void CommonDataSubscriber::odomDataInfoCallback(
+		const nav_msgs::OdometryConstPtr& odomMsg,
+		const rtabmap_msgs::UserDataConstPtr & userDataMsg,
+		const rtabmap_msgs::OdomInfoConstPtr& odomInfoMsg)
+{
+	callbackCalled();
+	sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
+	commonOdomCallback(odomMsg, userDataMsg, odomInfoMsg);
+}
+#endif
+
+void CommonDataSubscriber::setupOdomCallbacks(
+		ros::NodeHandle & nh,
+		ros::NodeHandle & pnh,
+		bool subscribeUserData,
+		bool subscribeOdomInfo,
+		int queueSize,
+		bool approxSync)
+{
+	ROS_INFO("Setup scan callback");
+
+	if(subscribeUserData || subscribeOdomInfo)
+	{
+		odomSub_.subscribe(nh, "odom", queueSize);
+
+#ifdef RTABMAP_SYNC_USER_DATA
+		if(subscribeUserData)
+		{
+			userDataSub_.subscribe(nh, "user_data", queueSize);
+			if(subscribeOdomInfo)
+			{
+				subscribedToOdomInfo_ = true;
+				odomInfoSub_.subscribe(nh, "odom_info", queueSize);
+				SYNC_DECL3(CommonDataSubscriber, odomDataInfo, approxSync, queueSize, odomSub_, userDataSub_, odomInfoSub_);
+			}
+			else
+			{
+				SYNC_DECL2(CommonDataSubscriber, odomData, approxSync, queueSize, odomSub_, userDataSub_);
+			}
+		}
+		else 
+#endif
+		if(subscribeOdomInfo)
+		{
+			subscribedToOdomInfo_ = true;
+			odomInfoSub_.subscribe(nh, "odom_info", queueSize);
+			SYNC_DECL2(CommonDataSubscriber, odomInfo, approxSync, queueSize, odomSub_, odomInfoSub_);
+		}
+	}
+	else
+	{
+		odomSubOnly_ = nh.subscribe("odom", queueSize, &CommonDataSubscriber::odomCallback, this);
+		subscribedTopicsMsg_ =
+				uFormat("\n%s subscribed to:\n   %s",
+				ros::this_node::getName().c_str(),
+				odomSubOnly_.getTopic().c_str());
+	}
+}
+
+} /* namespace rtabmap_sync */